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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 BA9?JAֽRA.=٘i)I9tr@YG JJJJJ6F&K YEV~?y̪IAF"9?B)BJE[[߁F[*KW~?[oy[[[[BZYY i) AVIi/@5= #<))#<#<KĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039406.423165 s, next control iter: 1743039406.783190 s, wait time: 0.360025 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12905&, header.stamp.nsec: 0&0 temperature: 13.569135&* salinity: 33.375084&, density: 1025.000000&* values[0]: 0.575961&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039406.803165 s.yAJ~,g*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: 0.4200362 time: 1743039406.803316F (some fields omitted in printout)A4@A`4@ADW~? AsAV%"AAjNA"AZAbAjArAzAAAuajϐ?AG tAvq@AmA=A-A r?A+EAO*A9?2A&׽:Aa=BA9?JA&׽RAa=٘i)I9q@YHG JJJJJ7F&K YQ[V~?y9ҪIAF7b7 9AB)BOE[[#B[ZW~?[!~[[[[BZYY i) eIi@4= W<))W<W<&ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039406.823165 s, next control iter: 1743039407.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039407.223165 s.gJ~,H*AJ"J*J2J:JBJnJvJAz4@Az]4@A1W~? AAz%"AAzjNA"AZAbAjArAzAAA V?A}} tAbq@A)FAl=AA`@?A߿A*Aʸ9?2Ae"׽:A5 =BAʸ9?JAe"׽RA5 =٘i)I9q@YG J&JJJJ9F&K YqV~?yת#IAF{7{7 9BB)BRE[[=[jW~?[[[[[BZYY i) uIi&@d3= 5=))5=5="̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039407.243165 s, next control iter: 1743039407.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039407.643165 s.xJ~,**AA ףp4@Ae4@A{W~? Ai«A%"AAjjNA"AZAbAjArAzAAA|W?Al+BtAq@AYA<=AA ?AQ!߿AeA*AX9?2Aoֽ:Ah =BAX9?JAoֽRAh =٘i)I9q@YG JTJJJJ:F&K YՇV~?yݪHAF7777 9)B[['I9[zW~?[M[[[[BZYY i F) M:Iih@q2= @k|=))@k|=@k|=ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039407.663165 s, next control iter: 1743039408.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12906, header.stamp.nsec: 00 temperature: 13.569267* salinity: 33.375072, density: 1025.000000* values[0]: 0.575484F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039408.063165 s.J~,N *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086071< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743039408.063270F (some fields omitted in printout)J"J*J2J:JBJnJvJA333335@Aq0'&5@AW~? AǫA %"AAjNA"AZAbAjArAzAAA#?Aڵ3tA9p@A9AԺ=AԻA,?Ai޿Am*AI9?2Aֽ:ABv=BAI9?JAֽRABv=Y<@byԺ=1+ٓH`? ?$D?aZ? d@2?)<@ I٘i)I9p@YaG J͜J<JJJ;F&Kx> YV~?y^HAFb77L9)BUE[[4[JW~?[[[[[BZYY i) 1ʼnIiĉ@sW0= `J=))`J=`J=qӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039408.103165 s, next control iter: 1743039408.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039408.483165 s._J~,*AA\h5@Aw[5@AW~? A̫A@%"AAjNA"AZAbAjArAzAAAhCӇ?A`!\tAo@AE<A1=A A.?AaݿAЦ*A9?2ALֽ:A=BA9?JALֽRA=٘i)I9o@YG JJJJJ=F&K YV~?yqGAFŧ7b79CB)ïBXE[[o~0[W~?[[[[[BZYY i) PIiN@!y.= `=))`=`=֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039408.523165 s, next control iter: 1743039408.883183 s, wait time: 0.360018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12907, header.stamp.nsec: 00 temperature: 13.569398* salinity: 33.375095, density: 1025.000000* values[0]: 0.574948F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039408.903165 s. J~J,9*A"J*J2J:J/?BJ/?nJV5vJAQ5@A?W5@AeW~? AѫA%"AA]kNA"AZAbAjArAzAAAX`?A2ɋptAko@AyG<A[=AڍAVy?A`%ܿA*A=9?2A;ֽ:A=BA=9?JA;ֽRA=٘i)I9ko@YG J!JJJJ>F&K YV~?y!GAF77j79)ǯB[[;,[W~?[`[[[[BZYY i) ژIi@,= =))==y+}ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039408.943165 s, next control iter: 1743039409.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039409.323165 s.tJ~,T*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086071< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743039409.323295F (some fields omitted in printout)AGz5@AK!q5@AX~? A֫Ap{%"AA[6kNA"AZAbAjArAzAAAihMI?AA%ptAn@A{ <A-=AKAZ?A`f.ܿA3*A9?2Ahֽ:A{_=BA9?JAhֽRA{_=٘i)I9n@Y^G JJJJJ@F&K YpV~?y(GAF{79)ͯB[E[['[))`>`>MުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039409.343165 s, next control iter: 1743039409.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12908*, header.stamp.nsec: 0*0 temperature: 13.569588** salinity: 33.375095*, density: 1025.000000** values[0]: 0.574345*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039409.743165 s.WJ~,io*AJ"J*J2J:JBJnJvJAףp= 6@A[\35@A%X~? A۫A%"AAUkNA"AZAbAjArAzAAA211@AxAh\ tAEn@A ;Aꑤ=AA ?A@"gۿA<밼*Ay9?2AWֽ:Aj=BAy9?JAWֽRAj=٘i)I9En@YG JJJJJAF&K YVV~?yFAF)7ŧ7w9EB)ӯB_E[[+*#[W~?[[[[[BZYY i) Ii@9H*= >))>>1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039409.763165 s, next control iter: 1743039410.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039410.163165 s.v}"J~,q*AA@6@An26@A7;X~? AGAh%"AAukNA"AZAbAjArAzAAAM*+@A4:2#tAm@AϻAT=A`A R?A-ڿA*A9?2Aq׽:A =BA9?JAq׽RA =YW@Tyw=AsлٓHC?k\?w?`Kܿ?F 괿`y r?)W@ I٘i)I9m@YG JJP<JJJBF&KNx> YW~?yhQFATFS77B9PB)BbE[[K[sW~?[[[[[BZYY i) KIi:@@'= @B)>))@B)>@B)>7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039410.183165 s, next control iter: 1743039410.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039410.583165 s.(J~,S*AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086071< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743039410.583289F (some fields omitted in printout)A)\u6@AMh6@APX~? AAf%"AA7kNA"AZAbAjArAzAAAHW@AO.{%tAFm@A>AW=A0kA@'?AٿAW*A9?2A׽:AT=BA9?JA׽RAT=٘i)I9m@YMG J8JJJJDF&K Y1W~?yOEAF{7{7 9QB)BeE[[#N[iW~?[[[[[BZYY i) Ii@K%= ;>));>;>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039410.623165 s, next control iter: 1743039410.983177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12909, header.stamp.nsec: 00 temperature: 13.569761* salinity: 33.375130, density: 1025.000000* values[0]: 0.573721F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039411.003165 s.t 0J~,;4*AAR6@Ax6@AfX~? A)A%"AAkNA"AZAbAjArAzAAAe@AU6P(tA}l@AT0AY=A ־A@?AuٿA+*A9?2Aֽ:A[=BA9?JAֽRA[=٘i)I9}l@YG JJJJJEF&K Y4KW~?y6pEAFŧ7b79)B[[3[X~?[~[[[[BZYY i) tIi,@$= L>))L>L>pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039411.043165 s, next control iter: 1743039411.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039411.423165 s.u6J~,*AJ"J*J2J:JBJnJvJA{G6@AI?6@A|X~? AfAԻ%"AAckNA"AZAbAjArAzAAAU @A4+tAXk@A,A@G=A˾A?A C1ؿA?ż*A9?2Aֽ:Aj=BA9?JAֽRAj=٘i)I9k@YG JCB=JJJJFF&K YdW~?yDAF779)BhE[[Z[?X~?[B[[[[BZYY i) ^żIi}@u"= ^>))^>^>6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039411.463165 s, next control iter: 1743039411.823182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12910, header.stamp.nsec: 00 temperature: 13.569963* salinity: 33.375103, density: 1025.000000* values[0]: 0.573066F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039411.843165 s.))Pp>Pp>fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039411.883165 s, next control iter: 1743039412.243180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039412.263165 s.DJ~,'*AJ"J*J2J:J?BJ?nJ5vJAL7@A?7@AʩX~? ArA%"AA6lNA"AZAbAjArAzAAA&[*@AҘ0tAj@A_3<AZ=AZŷA1?AֿAsԼ*A9?2A?ֽ:A=BA9?JA?ֽRA=Yb@jFyX=Vj4<ٓH?z?`?Vֿ?>@`v??)b@ I٘i)I9j@YG JLѼJNt<JJJIF&Kw> Y5W~?y DAF EF77!9RB)BnE[[e[=X~?[x[[[[BZYY i) nӼIiw@ = T>))T>T>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039412.283165 s, next control iter: 1743039412.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 129112, header.stamp.nsec: 020 temperature: 13.5701712* salinity: 33.3751072, density: 1025.0000002* values[0]: 0.5723452F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039412.683165 s.lJJ~,V+*AA(\7@AHu7@AX~? ABA%"AA>lNA"AZAbAjArAzAAA%ȆW$@A1:r2tAi@A><A=A`A`D?AտAؼ*A9?2AZ$ֽ:A =BA9?JAZ$ֽRA =٘i)I9i@YLG J׼JJJJJF&K YW~?y.CAFŧ7b7#9)BqE[[[QX~?[춪[[[[BZYY i) ]ۼIiDt@T= 0L>))0L>0L>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039412.683165 s, next control iter: 1743039413.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743039413.103165 s.QJ~,F*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086071< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743039413.103289F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ7@A$]J7@AX~? AA%"AAalNA"AZAbAjArAzAAA =@A4tA5i@Af;Aw=AA?AԿAДټ*A9?2Aoֽ:AƗ=BA9?JAoֽRAƗ=٘i)I9i@Y G JxټB=JJJJLF&K Y W~?yC$CAF{7{7$9SB) BrE[[ [dX~?[K[[[[BZYY i) FIiq@fM= Q>))Q>Q>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039413.123165 s, next control iter: 1743039413.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039413.523165 s.WJ~,{a*AAHz7@A 7@A9X~? AqAR@%"AAՄlNA"AZAbAjArAzAAA4qY@A<)o6tAah@AQ!Al/=AMᗾA`N5?AӿAvؼ*A~9?2Aֽ:A0]=BA~9?JAֽRA0]=٘i)I9ah@Yn G JtټC=JJJJMF&K YtW~?yWBAFj7&9)BuE[[M[VxX~?[[[[[ZZ¸BZYY i¸>=) k?ּIiMn@= ia>))ia>ia>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039413.563165 s, next control iter: 1743039413.923177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12912, header.stamp.nsec: 00 temperature: 13.570405* salinity: 33.375141, density: 1025.000000* values[0]: 0.571587F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039413.943165 s.Sd^J~,-]|*AJ"J*J2J:JBJnJvJAq= #8@Al8@AY~? AA%"AAnlNA"AZAbAjArAzAAA pw@A48tAɫg@AC-!A2=AAh?A`ӿAؼ*A|9?2Aֽ:A~=BA|9?JAֽRA~=٘i)I9g@Y G JqؼJJJJNF&K YX~?yl2BAF77b(9)BxE[[[]X~?[[[[[ZZBZYY i) k7ʼIik@^= {>)){>{>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039413.983165 s, next control iter: 1743039414.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039414.363165 s.eJ~,>*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083128< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743039414.363302F (some fields omitted in printout)AY8@AKWL8@AY~? AA%"AA[lNA"AZAbAjArAzAAA R@A YO:tAf@AEAo=AA-?A9ҿA+*A9?2Aֽ:Au<BA9?JAֽRAux> Y)X~?yAA$F7-*9)B{E[[ []X~?[ê[[[[ZZBZYY i) O))~>~>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039414.403165 s, next control iter: 1743039414.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12913&, header.stamp.nsec: 0&0 temperature: 13.570634&* salinity: 33.375179&, density: 1025.000000&* values[0]: 0.570799&F (some fields omitted in printout)F)X~?)F rAdjusting time to match Gazebo time: 1743039414.783165 s.VkJ~,*AJ"J*J2J:JBJnJvJA(\8@A.R8@A6Y~? A A5%"AAlNA"AZAbAjArAzAAAwٔ@AA)) Q>Q>y7=ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039414.803165 s, next control iter: 1743039415.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039415.203165 s.sJ~,*AAQ8@AT8@ANY~? A AD%"AAmNA"AZAbAjArAzAAAB@A~>tA/e@AAx=A\A@?A@qпA!*A9?2A|ս:A 2i<BA9?JA|սRA 2i<I٘i)I9/e@Y| G J5JJJJRF&K YSX~?y@AF777-9)*BE[[mѾ[BX~?[ɪ[[[[ZZBZYY i) FIig`@= ͱ>))ͱ>ͱ>lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039415.223165 s, next control iter: 1743039415.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039415.623165 s.VyJ~,X*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083128< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743039415.623281F (some fields omitted in printout)J"J*J2J:JBJnJvJAG8@Aj8@AJgY~? AAN %"AA9mNA"AZAbAjArAzAAAtB9@ @AY,@tA kd@AX;AW4=A?HA@?A@#ϿAD׼*Av9?2AA~ս:AL;BAv9?JAA~սRAL;٘i)I9kd@Y G JUJJJJTF&K YoX~?yV X@AF77{7/9)0B[[@Ⱦ[ X~?[V̪[[[[ZZBZYY i) LIiU]@/ =  >)) > >9}YdYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039415.643165 s, next control iter: 1743039416.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12914 , header.stamp.nsec: 0 0 temperature: 13.570916 * salinity: 33.375172 , density: 1025.000000 * values[0]: 0.569857 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039416.043165 s.J~,*AA= ף09@AQԙ#9@AY~? A\A%"AA_mNA"AZAbAjArAzAAA)d3@A?AtABc@A04<Ar<A34AC?A^ͿA'*A9?2A ս:AeBA9?JA սRAe٘i)I9c@Y G JȼJJJJUF&K YQX~?y"?AF77X19)6BE[[[AX~?[Ϊ[[[[ZZBZYY i) BQIiZ@ = ->))->->YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039416.083165 s, next control iter: 1743039416.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039416.463165 s.RJ~,פ*AJ"J*J2J:J?BJ?nJ5vJAfffff9@ANZY9@AY~? AA7%"AAsmNA"AZAbAjArAzAAA_@Ac`CCtAD;c@Au<Ae<AoAi?A˿A$?*AB9?2Aս:A+ BAB9?JAսRA+ Y@[y<<ٓH ?`:?Հ?ÿ@?NɃL?@W?)@ I٘i)I9;c@YK G JJ:JJJVF&Ku> YHX~?y#?A[FSI7SI7"39):BE[[!ൾ[_Y~?[~Ѫ[[[[ZZBZYY i߃=) rIi0V@ = ?>))J{?>?>pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039416.503165 s, next control iter: 1743039416.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12915, header.stamp.nsec: 00 temperature: 13.571154* salinity: 33.375172, density: 1025.000000* values[0]: 0.569110F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039416.883165 s.yJ~,/8*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245403> elevatorAngleAction: 0.064391< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743039416.883273F (some fields omitted in printout)A(9@Ac`9@AY~? AAx%"AAmNA"AZAbAjArAzAAAgKQ@AnDtA&b@Ac:A7ӻA A?AɿAb5*A89?2Aս:AABA89?JAսRAA٘i)I9b@Y G JiJJJJXF&K YAX~?yM%?AF77749)=BE[[[Y~?[Ӫ[[[[ZZBZYY i=) 6&uIiR@Py= x>)) x>x>(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039416.903165 s, next control iter: 1743039417.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039417.303165 s.VJ~,wgS*AJ"J*J2J:J?BJ?nJ5vJA9@A%9@AY~? A@A1M%"AAmNA"AZAbAjArAzAAA^@AEtAb@AaA}dAgA`?AǿAY̩*A9?2A`FԽ:AFBA9?JA`FԽRAF٘i)I9b@Y G J2 JJJJYF&K Y;X~?y&?AF77{769)?BE[[][~3Y~?[4֪[[[[ZZBZYY i) eaIilN@N= >))>>&)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039417.323165 s, next control iter: 1743039417.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12916., header.stamp.nsec: 0.0 temperature: 13.571218.* salinity: 33.375202., density: 1025.000000.* values[0]: 0.568729.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039417.723165 s.J~,Hn*AAz:@A99@AY~? A<A$%"AA mNA"AZAbAjArAzAAA?5m@Aƌ[/GtA=b@AAAՌA ĽAo?A$ƿAƟ *Aվ9?2A)hԽ:A_ѼBAվ9?JA)hԽRA_Ѽ٘i)I9b@Y G J3LJJJJZF&K Y1X~?y (?AF8889)E[[[qIY~?[fت[[[[BZYY i) MIiK@= 1>))1>1>yQY=33*Y,YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743039417.743165 s, next control iter: 1743039418.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039418.143165 s.\/J~, **AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074708< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743039418.143283F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=:@AYe0:@A&Y~? AAN%"AAUnNA"AZAbAjArAzAAA"@AgMHtAbb@A4*A1A蛽A`?A`RĿA`Mk;*A9?2AԽ:A&BA9?JAԽRA&٘i)I9b@Y G J':JJJJ\F&K Y+Y~?yg)?AF77M:9)E[[I[_Y~?[zڪ[[[[BZYY i) D9Ii3H@ = 6?))6?6?n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039418.163165 s, next control iter: 1743039418.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039418.563165 s.J~,[ *AA3333s:@ANw(f:@AZ~? AA%"AABnNA"AZAbAjArAzAAA]+ @AzlRItAb@ApAWAռcA?Ax¿Aa;*A*9?2ANս:ABA*9?JANսRAYF@byWpٓH)?s?`P@I?`z?ݪ?n?)F@ I٘i)I9b@Y G J;JnJJJ]F&KQt> Yf2Y~?y)?AbFj7j7<9)>BE[[][uY~?[gܪ[[[[BZYY i%g=) )IiC@O< `?))ڄw`?`?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039418.583165 s, next control iter: 1743039418.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12917, header.stamp.nsec: 00 temperature: 13.571126* salinity: 33.375198, density: 1025.000000* values[0]: 0.568767F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039418.983165 s.J~,*AJ"J*J2J:JBJnJvJA\:@Aw:@A%0Z~? A@ A%"AAqinNA"AZAbAjArAzAAA= @A<>JtA(b@A\;AvAA ?A@Ah%<*A9?2Aս:ABA9?JAսRA٘i)I9b@Y G J <JJJJ^F&K YNY~?ya*0@AFb77=9) elevatorAngleAction: 0.056398< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199312 time: 1743039419.403273F (some fields omitted in printout)AQ:@A :@AIZ~? A!A%"AA=nNA"AZAbAjArAzAAAN)b!@Am+KtA@c@AB(.<AAnA\1?AKAy\<*A9?2AjԽ:An BA9?JAjԽRAn ٘i)I9@c@YO G J?<JJJJ`F&K YjY~?y*x@AFj7SI7?9SB)9BE[[c;i[Y~?[ߪ[[[[BZYY i3=) Iij;@C< ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039419.423165 s, next control iter: 1743039419.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12918", header.stamp.nsec: 0"0 temperature: 13.570902"* salinity: 33.375225", density: 1025.000000"* values[0]: 0.569092"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039419.823165 s.J~,*AJ"J*J2J:JBJnJvJAGz;@An;@AcZ~? A"AɈ%"AA/nNA"AZAbAjArAzAAAȧ.!@A&_RpKtAnNA"AZAbAjArAzAAAzz)-"@A&8kLtA d@A5;AA.z<AC[rY~?[[[[[BZYY i) лIi4@w< "@?))"@?"@?y8=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039420.263165 s, next control iter: 1743039420.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039420.663165 s.ʻJ~,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: 0.065785< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743039420.663290F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12919, header.stamp.nsec: 00 temperature: 13.570571* salinity: 33.375237, density: 1025.000000* values[0]: 0.569664F (some fields omitted in printout)A;@A2rr;@A9Z~? A$A6`%"AAgoNA"AZAbAjArAzAAA^ڻ7#@A"YLtA%d@A}@RAؙA_5=A_?A@SA<*An9?2AYԽ:A)BAn9?JAYԽRA)Yy@\6=ybؙRٓH?`:4??ˆ @k6? Hj?)y@ I٘i)I9d@Y$ G J<B=J\JJJdF&Ks> YY~?yt+pAA\6= F77 E9).BE[[Kq0[FY~?[C[[[[BZYY i) PcIi0@P< ?))*_t??]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039420.683165 s, next control iter: 1743039421.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039421.083165 s.DѻJ~,RE*AA)\µ;@A=;@A%Z~? Af%AP%"AA,oNA"AZAbAjArAzAAA[#@AًDbMtA,e@A"AכA<=A`i?A6A<*A9?2AUԽ:ASBA9?JAUԽRAS٘i)I9,e@Yz G J<C=JJJJeF&K YY~?y+AA F7F9))BE[[[~[[Y~?[r[[[[BZYY i) ;Ii+@< D!?))D!?D!?4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039421.103165 s, next control iter: 1743039421.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039421.503165 s.׻J~,@4`*AJ"J*J2J:J?BJ?nJ5vJAR;@Aݵ|;@AZ~? A%A$D%"AASoNA"AZAbAjArAzAAAI=Dr$@A%MtAfe@A;AGAL=A (u?A`^A}<*A9?2AIӽ:ABA9?JAIӽRA٘i)I9e@Y G J<B=JJJJfF&K YY~?y*>BA F7H9RB)$BE[[d [Z~?[[[[[BZYY i) llIi'@< v&?)) v&?v&?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039421.543165 s, next control iter: 1743039421.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12920, header.stamp.nsec: 00 temperature: 13.570219* salinity: 33.375248, density: 1025.000000* values[0]: 0.570385F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039421.923165 s.<޻J~,{*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065785< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743039421.923327F (some fields omitted in printout)A{G!<@AM=<@A!Z~? AT&A:%"AA`{oNA"AZAbAjArAzAAA%@AJ,MtANXf@AMA򉛽AR=A{?A@ A<*A:?2AJӽ:A BA:?JAJӽRA ٘i)I9Xf@Y1 G J<C=JJJJhF&K Y'Z~?yG*BAF77{7mJ9)BE[[VZ[8-Z~?[n[[[[BZYY i) /Ii#@< D+?))D+?D+?*Y&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039421.943165 s, next control iter: 1743039422.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039422.343165 s.A ?A`]?AU<*A:?2Aս:ABA:?JAսRAY@>y&Ks<ٓH? z{¿3{ Y?֩?]̓@e???)@ I٘i)I9g@Y G J<J;JJJkF&K%s> YLLZ~?y(sCA>F7{7N9)B[[t[t\Z~?[[[[[BZYY i) [Ii@b< H4?))qH4?H4?o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039422.803165 s, next control iter: 1743039423.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039423.183165 s.J~,s*AJ"J*J2J:JR?BJR?nJn5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.236197> elevatorAngleAction: 0.065785< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743039423.183302F (some fields omitted in printout)A(\<@Asۄ<@AA3[~? A&A1%"AAoNA"AZAbAjArAzAAA'$&@A؇iNtAh@A<AA a)>A?A?A<*AX:?2A ս:A3\BAX:?JA սRA3\٘i)I9h@Y; G Jة<JJJJlF&K Y>hZ~?y['CAF{7j7O9QB)BE[[lu[/tZ~?[c[[[[BZYY i) x8Ii8@g< IJ9?)))IJ9?IJ9?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039423.223165 s, next control iter: 1743039423.583180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039423.603165 s.94J~,*AAQ<@A4F<@ALM[~? AB&AG5%"AA;pNA"AZAbAjArAzAAAQ'@A>ߊMtAEh@ARp <AAS=>A~?Al?A'٦<*A0,:?2A}ӽ:AeBA0,:?JA}ӽRAe٘i)I9h@Y G Jt<JJJJmF&K Y.Z~?y&?DAFZ7Q9) BE[[ ([!Z~?[[[[[BZYY i) :Ii@U@< Ѝ>?)) Ѝ>?Ѝ>?o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039423.623165 s, next control iter: 1743039424.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12922 , header.stamp.nsec: 0 0 temperature: 13.569393 * salinity: 33.375267 , density: 1025.000000 * values[0]: 0.571951 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039424.023165 s.ZJ~,|*AJ"J*J2J:JBJnJvJAHz.=@A !=@ASg[~? A%A;%"AA@pNA"AZAbAjArAzAAAe'7Ot%(@A3x$MtA>'i@Ah:AǑAQP>Ay?A`?A˅<*A6:?2A:-ӽ:ABA6:?JA:-ӽRA٘i)I9'i@Y G J<JJJJoF&K Y!Z~?y$DAF)7)7cS9PB)BE[[׸[EZ~?[[[[[BZYY i) :IiR@ks< rC?))rC?rC?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039424.063165 s, next control iter: 1743039424.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039424.443165 s.5J~,5]*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065785< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743039424.443274F (some fields omitted in printout)Aq= c=@AJ$V=@AS[~? A@%AE%"AA"hpNA"AZAbAjArAzAAAVNa2(@AVKMtAi@AAtAMd>Aq?A?A,ͥ<*A7:?2Aӽ:AIBA7:?JAӽRAI٘i)I9i@Y;G JE<JJJJpF&K YZ~?y# EAF77{7-U9)BE[[1[Z~?[[[[[BZYY i) E;;Ii @+< ^H?))^H?^H?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039424.463165 s, next control iter: 1743039424.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12923, header.stamp.nsec: 00 temperature: 13.569002* salinity: 33.375309, density: 1025.000000* values[0]: 0.572725F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039424.863165 s.+ J~,>7*AJ"J*J2J:J?BJ?nJ5vJA=@Ab=@AI[~? A$A1R%"AApNA"AZAbAjArAzAAA:A@`)@ALtAO=j@A;A Ax>A&g?A`J?A'<*AR7:?2A3Խ:ABAR7:?JA3ԽRAYI<ky>yA;ٓHY?2ο̱?9?uv@W?c ?)I< I٘i)I9=j@YG J<B=JS<JJJqF&Kr> YZ~?yo!jEAky>FV9OB)BE[[i<[Z~?[ [[[[BZYY i) Yx;Ii@< A` Z?A[׶?A<*AM6:?2AԽ:A{BAM6:?JAԽRA{٘i)I9j@YG J<C=JJJJsF&K YZ~?yOEAF{7X9)BE[[?=[Z~?[[[[[BZYY if*=) >7;IiO@$̦< #R?))!#R?#R?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039425.303165 s, next control iter: 1743039425.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12924., header.stamp.nsec: 0.0 temperature: 13.568611.* salinity: 33.375317., density: 1025.000000.* values[0]: 0.573465.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039425.703165 s.պJ~, m*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.254121> elevatorAngleAction: 0.074788< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743039425.703289F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ>@A R=@A [~? A"A u%"AApNA"AZAbAjArAzAAAf$g*@AfKtAFk@A%7ArA5>AL?AѺ?A<*AY:?2Aӽ:ABAY:?JAӽRA٘i)I9Fk@Y1G J<JJJJtF&K YO[~?y0(FAF777Z9)B[[Tk`=[8[~?[[[[[BZYY i) ;Ii)?b< W?)) W?W?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039425.723165 s, next control iter: 1743039426.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039426.123165 s.;!J~,m*AAG:>@A->@A[~? AR!AH%"AA4qNA"AZAbAjArAzAAAF^6+@AYJtAk@A;A_#AdN>A;?Ay?Aɍ<*A_:?2ACӽ:ABBA_:?JACӽRAB٘i)I9k@Y|G J<JJJJuF&K Y)[~?yFAF77{7X\9NB)BùE[[ =[[~?[[[[[BZYY i) ;Ii?~< \?))\?\?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039426.163165 s, next control iter: 1743039426.523180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039426.543165 s.I(J~,â*AJ"J*J2J:JBJnJvJA= ףp>@Arpc>@A\~? AA%"AA<,qNA"AZAbAjArAzAAA1ș+@Ak JtA6l@Az4<A(A>A@k'?A ?A<*A+[:?2A;Խ:ABA+[:?JA;ԽRA٘i)I96l@YG J<JJJJwF&K Y#E[~?yFAF77#^9)BƹE[[;=[x6[~?[][[[[BZYY i) 0;Ii?W!< Ta?))Ta?Ta?y=*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039426.583165 s, next control iter: 1743039426.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12925, header.stamp.nsec: 00 temperature: 13.568254* salinity: 33.375309, density: 1025.000000* values[0]: 0.574147F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039426.963165 s.w.J~,줽*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074788< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743039426.963279F (some fields omitted in printout)Affff>@A=Ab>@A)\~? AeA%"AA"SqNA"AZAbAjArAzAAA) m,@A ItA¨l@A.<A$A)گ>A@?AI?A<*AT:?2AiԽ:AōBAT:?JAiԽRAōY0=p}>y"|.<ٓH`t?տ2`5v?!?x ?!Å?r?)0= I٘i)I9l@Y G JŇ<B=Jc;JJJxF&Kq> Y_[~?yAGA}>F7)7_9)BɹE[[=[N[~?[[[[[BZYY i) s @A>@A5\~? AAW%"AAyqNA"AZAbAjArAzAAA#1-@A9{HtAm@AE;ArA>A?Aƭ?A,<*AM:?2AԽ:A_BAM:?JAԽRA_٘i)I9m@YOG J<C=JJJJyF&K Y[z[~?yGAF77{7a9MB)B̹E[[m>[Wg[~?[[[[[BZYY i) A`?A x?A6<*Al:?2Aҽ:ABAl:?JAҽRA٘i)I9m@YG JM<JJJJ{F&K Y[~?yGA!F)7ŧ7c9LB)BϹE[[&>[[~?[[[[[BZYY i) q* elevatorAngleAction: 0.074788< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743039428.223288F (some fields omitted in printout)AzG?@Aa⏢:?@AXh\~? AA(%"AAqNA"AZAbAjArAzAAAi|S;.@A{EtA n@Al'AA>A?A`[?AL<*Aiq:?2A|ҽ:AGBAiq:?JA|ҽRAG٘i)I9 n@YG J<JJJJ|F&K Y[~?y SHA"F{7{7Me9JB)گBιE[[z0>[Ę[~?[B[[[[BZYY i) :A`ʡ?A`!?A,4<*Av:?2Aҽ:A' BAv:?JAҽRA' ٘i)I9n@Y/G J<JJJJ}F&K Y-[~?y# HA#F7ŧ7g9IB)կBѹE[[MD>[[~?[[[[[BZYY i) ΪIA?A@?AQޘ<*Ap:?2Aӽ:AU BAp:?JAӽRAU YҬc>>yLӻٓH ?@_Qۿ@a@F? ?H?@;dz`I?)Ҭc> I٘i)I9 o@Y}G J<J2*JJJF&Kp> Y[~?y`IA>%Fb77h9)ЯBԹE[[.Y>[[~?[D[[[[BZYY i) X elevatorAngleAction: 0.074788< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743039429.483295F (some fields omitted in printout)A\?@AEk?@A`\~? AAa%"AA8rNA"AZAbAjArAzAAAɨo0@AjvAtAЌo@A;c:A.ŒAan>A*[?An?Am<*Ai:?2AԽ:AeBAi:?JAԽRAe٘i)I9o@YG J<JJJJF&K Y?[~?yqIA&F77j9HB)˯B׹E[[m>[[~?[ߪ[[[[BZYY i ~=) LhAZ4?A?A6<*A:?2Akҽ:ASBA:?JAkҽRAS٘i)I9 p@YG J<JJJJF&K Y\~?yIA'F7xl9GB)ǯBڹE[[>[V[~?[ݪ[[[[BZYY i) wtAQp@Aj=<A̖A^?A\ ?A4?A&H<*A:?2Aҽ:A9j BA:?JAҽRA9j ٘i)I9p@YhG J<JJJJF&K YR0\~?y4JA)FCn9FB)¯BݹE[[x>[\~?[۪[[[[BZYY i) w elevatorAngleAction: 0.083737< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743039430.743290F (some fields omitted in printout)Aףp=@@AL3}@@A\~? A ApI%"AArNA"AZAbAjArAzAAA}0@A,][,\~?[S٪[[[[BZYY i) ? ӽ:ABA:?JA>ӽRAY)<>6 ?y,e:09ٓH!^?+s`YͰf?r?0=8?%??))<> I٘i)I9q@Y G Jj<JdJJJF&Kp> Yb\~?yJA6 ?+F777q9EB)BE[[<>[*E\~?[֪[[[[BZYY i) 4[]\~?[hԪ[[[[BZYY i) N elevatorAngleAction: 0.083737< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743039432.003299F (some fields omitted in printout)AR+A@AO}A@AD]~? AAc%"AAWsNA"AZAbAjArAzAAANf1@ADaR!w6tAr@A9>A4A0?AT?Av?A" <*Ay:?2A ҽ:AvBAy:?JA ҽRAv٘i)I9r@YG Jh<C=JJJJF&K Y\~?yKA.F7)7nu9AB)BE[[+>[u\~?[Ѫ[[[[BZYY i) L[k\~?[Ϊ[[[[BZYY i) [Ѧ\~?[˪[[[[BZYY i) : elevatorAngleAction: 0.083737< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743039433.263302F (some fields omitted in printout)J"J*J2J:JBJnJvJAA@AįXÿA@A]~? AA%"AAsNA"AZAbAjArAzAAAoL;_2@A5o/tAt@A;A$AS#?A?A"?A+ɼ<*APy:?2AdԽ:ABAPy:?JAdԽRAY>i#?yYh;ٓH? @y+@?`?䫿 I٘i)I9t@YG J<JJJJF&KNr> Y\~?yt۪MA#?2Fj7Z7z9?B)BE[[w>[\~?[Ȫ[[[[BZYY i) bB)BE[[G>[\~?[Ū[[[[BZYY i) =[\~?[[[[[BZYY i)  elevatorAngleAction: 0.083737< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743039434.523286F (some fields omitted in printout)AHznB@AX5aB@Ae]~? AA%"AAsNA"AZAbAjArAzAAAU[3@AցI(tAyv@AN;AͰA2?AM?A?A<*A:?2ASӽ:A\'BA:?JASӽRA\'٘i)I9yv@YG J<JJJJF&K Y]~?y˪nNA6F7.9:B)BE[[!>[R]~?[ɽ[[[[BZYY i)  *AAB@A+.B@A)]~? A߫A|g%"AA*tNA"AZAbAjArAzAAA,3@AA "tAw@A&"+Az?A YI]~?yYOA*=?9F)7ŧ7Ã9)zB[[Kd?[:5]~?[̵[[[[ZZZZ¸>BZYY i¸> E) L+tq; :?))LLt:?:?W*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039435.383165 s, next control iter: 1743039435.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12934&, header.stamp.nsec: 0&0 temperature: 13.564807&* salinity: 33.375431&, density: 1025.000000&* values[0]: 0.580882&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039435.783165 s.J "J *J 2J :J ?BJ ?nJ 5XJ~vJ,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.238572@ elevatorAngleAction: -0.085093< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743039435.783329F (some fields omitted in printout)A(\C@AcAaPC@A^~? A*۫A@%"AAKtNA"AZAbAjArAzAAAd4!4@A tA@x@A7A5A#B?A5?A?B?Ai<*Ag:?2AԽ:ABAg:?JAԽRA٘i)I9x@YIG J<JJJJF&K Y]]~?yOA:F7797B)sBE[[ ?[XL]~?[[[[[ZZZZBZYY i) /'w߃; Q?))Q?Q?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039435.823165 s, next control iter: 1743039436.183179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039436.203165 s.üJ~,P *AAQEC@AW_]8C@A$^~? Ah֫A%"AAktNA"AZAbAjArAzAAAtGa4@Ar*tAEZy@A<ŻA"AYG?A?A?A~=*A:?2Aӽ:A1BA:?JAӽRA1٘i)I9Zy@YG JG<JJJJF&K Yr]~?yJPA;FY96B)kBE[[oM?[^c]~?[![[[[ZZZZBZYY i) k"._; ?)) ??yŽ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039436.223165 s, next control iter: 1743039436.603187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743039436.623165 s.VɼJ~,X'*AJ"J*J2J:J?BJ?nJ/5vJAGzC@AؘmC@A9^~? AѫAy%"AAtNA"AZAbAjArAzAAAt6d4@Afs.tA"6z@Aw";AAuL?A?A`o?A\:<*A:?2A5Խ:AᶼBA:?JA5ԽRAᶼ٘i)I96z@YIG J=JJJJF&K Y]~?yĮPA=F)7ŧ7#93B)aBE[[?[@z]~?[[[[[ZZZZBZYY i) z=B;; Rq?))Rq?Rq?y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039436.663165 s, next control iter: 1743039437.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12935 , header.stamp.nsec: 0 0 temperature: 13.564351 * salinity: 33.375496 , density: 1025.000000 * values[0]: 0.581835 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039437.043165 s.мJ~,B*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085093< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743039437.043287F (some fields omitted in printout)A= ףC@AݗC@AN^~? A̫A%%"AA tNA"AZAbAjArAzAAA 4@A7tAV{@Af"<AqA Q?AX?A?Aˉ<*A:?2AԽ:A2ZBA:?JAԽRA2Z٘i)I9{@YG JJ<JJJJF&K Ye]~?y٨:QA>F7779.B)VBE[[ a?[]~?[[[[[ZZZZBZYY i) K ; t8?))t8?t8?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039437.063165 s, next control iter: 1743039437.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039437.463165 s.T׼J~,ߤ]*AJ"J*J2J:J?BJ?nJT5vJAffffC@Abc^C@A=b^~? A`ǫA=%"AAtNA"AZAbAjArAzAAA 5@A-q0tA{@ANK<A-A:V?A` ?A=?AҌ<*A:?2ASս:AsJBA:?JASսRAsJY ?V?ym-BK<ٓH@[?`d9 ~?\?QiB?u?@?) ? I٘i)I9{@Y;G J <B=J=JJJF&Kst> YL]~?yHuQAV??F77j79)PB[[ ?[)]~?[ʞ[[[[ZZZZBZYY iޙ) P[: ?))5w??Dq*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039437.503165 s, next control iter: 1743039437.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12936, header.stamp.nsec: 00 temperature: 13.563837* salinity: 33.375496, density: 1025.000000* values[0]: 0.582912F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039437.883165 s.yݼJ~,8x*AA(D@Av3D@Av^~? A«Ay%"AACtNA"AZAbAjArAzAAAI<@W5@AtA@b|@A-<A4ϼA%\?A~?A?Aɦ<*A":?2Atս:AF:;BA":?JAtսRAF:;٘i)I9b|@YG J<C=JJJJF&K Y1]~?yQAAF)7b79-B)JBE[[sv&?[6]~?[[[[[ZZZZBZYY i) Ӌ}@A®A;AGf?A`?A3?A 2<*A:?2AԽ:ASu<BA:?JAԽRASu<٘i)I9>}@Y"G J1_<B=JJJJF&K Y]~?y$RACF7779)B)?BE[[1?[]~?[[[[[ZZZZBZYY i) <[JJJF&Kt> Y ^~?y耪0RAp?FF9);B[[=?[^~?[l[[[[BZYY i>p) 5Eg6@A6.@sAa+}@A3=<A[}=A?A0?A?AD*An:?2AԽ:AHm =BAn:?JAԽRAHm =٘i)I9+}@YG J$B=JJJJF&K Y=^~?ykQAJF)7ŧ79"B)9B E[[CN?[O^~?[p[[[[BZYY i) y Y\^~?y\QA.?MFb779!B)>B E[[Y?[Zv^~?[c[[[[BZYY iiq) ;IH?iϾ넻 u?))~u?u?7ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039441.683165 s, next control iter: 1743039442.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039442.083165 s.D!J~, S*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.248057@ elevatorAngleAction: -0.058843< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743039442.083277F (some fields omitted in printout)A)\5F@AI(F@Ah(_~? AA%"AAuNA"AZAbAjArAzAAA%At7@A`sAH{@AAϙ=Aև?A'?A?Av*AW]:?2A7ֽ:A =BAW]:?JA7ֽRA =٘i)I9{@YPG J(JJJJF&K Yj^~?y9UPANFS77n9)BB[[Ɲ_?[^~?[][[[[BZYY i)  ;IAH?i+e ?)) ??VӪYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743039442.103165 s, next control iter: 1743039442.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039442.503165 s.'J~,@4*AJ"J*J2J:JBJnJvJARkF@Amscz^F@A 8_~? AA%"AAvNA"AZAbAjArAzAAAÏٮ7@ALBsA`{@A,-AL =Avy?A`I?Ag?Ag*Ap:?2A.ս:A*=BAp:?JA.սRA*=٘i)I9`{@YG JJJJJF&K Y7y^~?yMOPAOF77{799B)ABE[[ue?[?^~?[V[[[[BZYY i) g;I#H?i[nj ?))??~٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039442.523165 s, next control iter: 1743039442.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12941, header.stamp.nsec: 00 temperature: 13.563264* salinity: 33.375542, density: 1025.000000* values[0]: 0.583545F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039442.923165 s.6.J~,*AA{GF@A~!OARF777Υ9B)IBE[[@q?[^~?[G[[[[BZYY i) ' ;I.H?iû J?))J?J?۪YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743039443.363165 s, next control iter: 1743039443.743177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12942&, header.stamp.nsec: 0&0 temperature: 13.563450&* salinity: 33.375549&, density: 1025.000000&* values[0]: 0.582927&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039443.763165 s.4;J~,*AA G@A)\F@Aid_~? AlA%"AA VvNA"AZAbAjArAzAAAϕk*8@ApsA!y@A ;A =AD?A ~?A@?A8*At:?2Aֽ:A? =BAt:?JAֽRA? =YD(l?o ?y홝=g ;ٓH?``@Є??@??C@c?@?)D(l? I٘i)I9y@YG JJE<JJJF&K{v> Y^~?yn6 OA ?SF{7Z79)NB[[w?[M^~?[N@[[[[BZYY i) Wp:IH?i)duػ ?))y??٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039443.783165 s, next control iter: 1743039444.163176 s, wait time: 0.380011 s^~?)n6 rAdjusting time to match Gazebo time: 1743039444.183165 s.BJ~, *AJ"J*J2J:JBJnJvJA(\BG@Aٱ5G@ATr_~? AeA%"AAkvNA"AZAbAjArAzAAAΚ=T8@A~n^sAy@A<AM=A ?A-?A@8?A(*Au:?2A'ֽ:A=BAu:?JA'ֽRA=٘i)I9y@YG JJJJJF&K YH^~?yl.NAUF77d9B)PBE[[}?[^~?[8[[[[BZYY i) M9I=H?i-7w x?)) x?x?ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039444.203165 s, next control iter: 1743039444.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039444.603165 s.>4IJ~,̚&*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067703< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743039444.603335F (some fields omitted in printout)AQxG@AUJkG@A_~? A^A$%"AAGvNA"AZAbAjArAzAAALp}8@Aʭ*A:?2A~ս:A=BA:?JA~սRA=٘i)I9ex@Y.G JJJJJF&K Y^~?yl&LNAVFj7j7.9B)SBE[[}?[^~?[ 1[[[[BZYY i) ~IH?iGC ?))??ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039444.623165 s, next control iter: 1743039445.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12943 , header.stamp.nsec: 0 0 temperature: 13.563662 * salinity: 33.375549 , density: 1025.000000 * values[0]: 0.582249 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039445.023165 s.ZPJ~,|A*AJ"J*J2J:JBJnJvJAHzG@An2 G@Aό_~? AWA%"AAavNA"AZAbAjArAzAAA8@A{}sAw@A{;A@=Aԙ?A@ ?A`_?A*A:?2Aս:A=BA:?JAսRA=٘i)I9w@YG JJJJJF&K Y^~?ykMAWF77{79)XB[[|?[^~?[.)[[[[BZYY i) 6źIH?ifMt ?))??ȪYeYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039445.043165 s, next control iter: 1743039445.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039445.443165 s.9VJ~,F]\*AAq= G@A G@A]_~? APA6%"AAɧvNA"AZAbAjArAzAAAy8@A*,sA?w@AA=Av?A7?A`?AKq*Ax:?2A~ֽ:A/<BAx:?JA~ֽRA/<٘i)I9?w@Y{G JWJJJJF&K Y^~?yjyMAYFŧ77Į9B)[BE[[~?[ _~?[(![[[[BZYY i) uI9H?iU J?))J?J?y蛊êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039445.463165 s, next control iter: 1743039445.843180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12944, header.stamp.nsec: 00 temperature: 13.563886* salinity: 33.375561, density: 1025.000000* values[0]: 0.581569F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039445.863165 s.+]J~,>w*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067703< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743039445.863288JF (some fields omitted in printout)"J*J2J:JBJnJvJAH@AZՒ H@As_~? ApIAs%"AA}vNA"AZAbAjArAzAAAa$8@AFsA#v@AîA=A-?A \?A`?A*Ap{:?2Aֽ:A"h<BAp{:?JAֽRA"h Y^~?yMA?ZF9B)\BE[[p|?[_~?[[[[[BZYY i) \\IH?iEd ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039445.903165 s, next control iter: 1743039446.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039446.283165 s.8RdJ~,*AA(\OH@ASςPBH@A_~? A.BAqO%"AAzvNA"AZAbAjArAzAAAQV9@Aέ۱sAz;v@AC:@Ay=Aѡ?A?A 7?A"*Av:?2A(׽:A<BAv:?JA(׽RA<٘i)I9;v@YG J͖JJJJF&K Y^~?yLA[Fb7b7Y9)`B[[?[)_~?[[[[[BZYY i) 7#IH?i qC &?))&?&?ȼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039446.323165 s, next control iter: 1743039446.683175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12945., header.stamp.nsec: 0.0 temperature: 13.564070.* salinity: 33.375572., density: 1025.000000.* values[0]: 0.580994.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039446.703165 s.ԺjJ~,*AJ"J*J2J:JBJnJvJAQH@AxH@A1_~? A:A%"AAvNA"AZAbAjArAzAAAwF49@AnX4sAu@AAi=APi?A?Aj?AԐ*A/r:?2A(׽:A<BA/r:?JA(׽RA<٘i)I9u@YG J葼B=JJJJF&K Y^~?yf`LA]F7777$9)dB[[F?[6_~?[r[[[[BZYY i) MItH?i{'! 2?))2?2?кYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039446.723165 s, next control iter: 1743039447.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039447.123165 s.7qJ~,]*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067703< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743039447.123284F (some fields omitted in printout)AGH@AխH@A_~? Ar3Am%"AAGvNA"AZAbAjArAzAAA"ܯT9@A!6zsAGu@AúA=A?A?A ?AĐ*AVm:?2A׽:A^<BAVm:?JA׽RA^<٘i)I9Gu@YHG J}C=JJJJF&K Y^~?yLA^FZ7Z79B)fBE[[?[HC_~?[[[[[BZYY iѢ)  ˻IsrH?iDϽ& y?))y?y?yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039447.163165 s, next control iter: 1743039447.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039447.543165 s.IxJ~,*AJ"J*J2J:JBJnJvJA= ףH@AAJH@A_~? A+A%"AAvNA"AZAbAjArAzAAAFs9@AMW//"sAt@AC;A=AV?A?A?Am*Ah:?2Aֽ:A<BAh:?JAֽRA<I٘i)I9t@YG JJJJJF&K Y^~?yKA`F77{79 B)gBE[[?[8O_~?[@[[[[BZYY i) IdH?in+ ?))??xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039447.563165 s, next control iter: 1743039447.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12946, header.stamp.nsec: 00 temperature: 13.564246* salinity: 33.375584, density: 1025.000000* values[0]: 0.580470F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039447.963165 s.{~J~,*AAffff&I@A_I@A_~? Au$A%"AA' wNA"AZAbAjArAzAAA᳌9@A&sATt@At;<As=A?A?AN?A*A`:?2Agֽ:A>=BA`:?JAgֽRA>=Y#?0?y5=;<ٓH@? .b?@q?ࢸ?a>?ܳ@qn??)#? I٘i)I9Tt@YG J#B=J)ͻJJJF&Ky> YQ_~?y"LKA0?aFj7Z79)kB[[ ?[mZ_~?[[[[[BZYY i) ۟ITH?iMT3 \s?))\s?\s?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039447.983165 s, next control iter: 1743039448.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039448.383165 s.؅J~,'*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J8 propOmegaAction: 25.132812"J< rudderAngleAction: -0.261799*J@ elevatorAngleAction: -0.0764822J< massPositionAction: 0.000000:J4 buoyancyAction: 0.000500BJnJ dt: 0.420005vJ2 time: 1743039448.383306F (some fields omitted in printout)A(\I@Ax'OI@A_~? AA|$%"AAywNA"AZAbAjArAzAAAƔͬ9@AN]sAs@A%<A?t=A?A?A!?A*AW:?2Ah ׽:A=BAW:?JAh ׽RA=٘i)I9s@YlG J֍C=JJJJF&K Y _~?y۩JAbF77N9)oB[[R?[e_~?[[[[[BZYY i) I>IMEH?i: Gm?))Gm?Gm?yцYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039448.403165 s, next control iter: 1743039448.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12947", header.stamp.nsec: 0"0 temperature: 13.564435"* salinity: 33.375591", density: 1025.000000"* values[0]: 0.579944"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039448.803165 s.zAJ~,g3*AAI@ANI@A_~? A;A%"AA )wNA"AZAbAjArAzAAAVӳ9@A_R?sAhs@Agc;A5=Ae?A E\?A-J?A݉*AO:?2A;W׽:A|=BAO:?JA;W׽RA|=٘i)I9hs@Y%G J7B=JJJJF&K Y_~?yҩJAdF)7ŧ79 B)qBE[[՟?[o_~?[ܩ[[[[BZYY i) *#I5H?i@ Q7@))Q7@Q7@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039448.823165 s, next control iter: 1743039449.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039449.223165 s.gJ~,HN*AJ"J*J2J:JBJnJvJAzI@AiI@A_~? A AN%"AA5wNA"AZAbAjArAzAAAb9@AFsAr@A4AU=A`?A`d?ADp?A *AG:?2Aѝ׽:A=BAG:?JAѝ׽RA=٘i)I9r@YG J㈼C=JJJJF&K YE_~?ybʩ?JAeF7777侯9 B)rBE[[?[Xx_~?[ө[[[[BZYY i) !|3I$H?i>'nE @))@@нYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039449.243165 s, next control iter: 1743039449.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039449.643165 s.|ЙJ~, *i*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076482< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743039449.643331F (some fields omitted in printout)A ףpI@AYeI@A^_~? AAk%"AAAwNA"AZAbAjArAzAAA)M9@A);ӝsA\r@Av0A=A?A?A͓?A&Ĉ*A?:?2A׽:Aߤ=BA?:?JA׽RAߤ=٘i)I9r@YG JJJJJF&K Y_~?yIAfF79)uB[[ ?[_~?[~ʩ[[[[BZYY i) FCIH?iӜMH A@))A@A@XtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12948, header.stamp.nsec: 00 temperature: 13.564590* salinity: 33.375591, density: 1025.000000* values[0]: 0.579431F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039449.663165 s, next control iter: 1743039450.043182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743039450.063165 s.J~,p *AJ"J*J2J:JBJnJvJA33333J@A'&J@A`~? AA}%"AAMwNA"AZAbAjArAzAAA#T :@AsA@r@A)P2A}=A\?A?A?Aی*Aj8:?2A׽:A=BAj8:?JA׽RA=YL7?C?yw{=m2ٓH3p?b ?Q? ?뱿Ij?)L7? I٘i)I9r@YSG J;J :<JJJF&Ky> Y!_~?yIAC?hF7ŧ7y¯9)yB[[ ?[_~?[M[[[[BZYY i) xRI(H?iKP @))@@WŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039450.103165 s, next control iter: 1743039450.463183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743039450.483165 s.y_J~,*AA\hJ@AkA[J@A" `~? A-A|%"AAWwNA"AZAbAjArAzAAA$( :@AGJsAq@AP᫻ACv=A?A`?A?Adϓ*Ap1:?2AR]׽:AE =BAp1:?JAR]׽RAE =٘i)I9q@Y G JB=JJJJF&K Y$_~?yP$IAiF77Dį9)}B[[=?[_~?[[[[[BZYY i) maI"G?iV  D@)) D@ D@lɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039450.523165 s, next control iter: 1743039450.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12949, header.stamp.nsec: 00 temperature: 13.564766* salinity: 33.375599, density: 1025.000000* values[0]: 0.578892F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039450.903165 s.ȭJ~,͹*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076482< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743039450.903304F (some fields omitted in printout)J"J*J2J:JBJnJvJAQJ@A[J@A@`~? ANA%"AA@awNA"AZAbAjArAzAAA&\3:@At1~|sAuq@A P;A5=A,t?A(?A@i?A囼*A*:?2A ׽:A =BA*:?JA ׽RA =٘i)I9q@YG J\C=JJJJF&K Y(_~?yHAjFb7Ư9B)~BE[[\?[_~?[[[[[BZYY i) O2qIG?irs[ W@))W@W@5ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039450.943165 s, next control iter: 1743039451.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039451.323165 s.uJ~,!*AAGzJ@ArJ@A`~? AfAH%"AA*jwNA"AZAbAjArAzAAAQWD:@Axk#sAőp@Ae#<A=A??A *=?A?A *A%:?2A|ֽ:ADa=BA%:?JA|ֽRADa=٘i)I9p@YjG J JJJJF&K Y+_~?y֞cHAlF{7j7ǯ9)B[[?[o_~?[[[[[BZYY i뮽) tFIG?i=_ S @))S @S @lЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039451.343165 s, next control iter: 1743039451.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12950*, header.stamp.nsec: 0*0 temperature: 13.564965** salinity: 33.375599*, density: 1025.000000** values[0]: 0.578329*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039451.743165 s.WJ~,~*AJ"J*J2J:JBJnJvJAףp= K@AD3J@A`~? AvުAe%"AALrwNA"AZAbAjArAzAAAScS:@A3cЅsA p@AU<<A+g=A"?A \?A?AJ*A:?2Aֽ:A=BA:?JAֽRA=٘i)I9p@YG J0JJJJF&K Y._~?yHAmF777ɯ9)B[[?[_~?[[[[[BZYY i) uI G?i@a  @)) @ @ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039451.763165 s, next control iter: 1743039452.143181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039452.163165 s.v}½J~,q *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085410< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743039452.163285F (some fields omitted in printout)A@K@AW2K@A`~? A~֪A~%"AAywNA"AZAbAjArAzAAAaa:@AsAzo@As;AZR=AA?A?Ay3?A̙*AF:?2A׽:Ad=BAF:?JA׽RAd=YPF?R?y]Q=Y;ٓHgٕ?Ɓ? ?u?>Z?@he|???)PF? I٘i)I9zo@YG JB=J`a<JJJF&Kx> Y/_~?yLGAR?nFj7j7o˯9B)BE[[<Ƹ?[̥_~?[[[[[BZYY i) yIG?ig d @))d @d @ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039452.183165 s, next control iter: 1743039452.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039452.583165 s.ȽJ~,S%*AJ"J*J2J:J?BJ?nJ)5vJA)\uK@AwhK@A#`~? AΪA|&"AA/wNA"AZAbAjArAzAAAG0Bm:@A{|sAn@A]Aם=A_?A`?AE?Ak*A\ :?2Aa׽:A=BA\ :?JAa׽RA=٘i)I9n@YkG J|C=JJJCFJF&K Y/0_~?y2GApF779ͯ9B)BE[[?[]_~?[d[[[[BZYY i) IG?i l @))@@yEѮتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039452.603165 s, next control iter: 1743039452.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12951, header.stamp.nsec: 00 temperature: 13.565212* salinity: 33.375599, density: 1025.000000* values[0]: 0.577690F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039453.003165 s. нJ~,j4@*AARK@AzK@A'`~? A|ƪAȶ&"AAwNA"AZAbAjArAzAAATBjx:@AM-wsAbn@Ad A͠=A-?A??AWU?Aͦ*A:?2A ׽:A X=BA:?JA ׽RA X=٘i)I9bn@YG JĦJJJJF&K Y0_~?y{FAqF77ϯ9)B[[3?[-_~?[~[[[[BZYY i) I{|G?ip x@))x@x@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039453.023165 s, next control iter: 1743039453.403182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743039453.423165 s.uֽJ~,[*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085410< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743039453.423306F (some fields omitted in printout)J"J*J2J:JBJnJvJA{GK@A>K@A*`~? ArAS&"AAۊwNA"AZAbAjArAzAAAni:@Ak_FrsAm@Aq>A=AF?AEi?ASb?Ajī*A89?2Aѐ׽:A-=BA89?JAѐ׽RA-=٘i)I9m@YG J/JJJJF&K Ye1_~?yrbFArF{7Z7Я9)B[[X??[:_~?[t[[[[BZYY i) y IhG?i㽿Gs @))@@mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039453.443165 s, next control iter: 1743039453.823179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12952", header.stamp.nsec: 0"0 temperature: 13.565441"* salinity: 33.375591", density: 1025.000000"* values[0]: 0.577048"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039453.843165 s.ܽJ~,u*AAp= L@AS L@Ap,`~? AeA&"AAwNA"AZAbAjArAzAAAT͈:@Aex[msAAm@A# Ab=AP?A2?Al?A*AJ9?2AR׽:A>N=BAJ9?JAR׽RA>N=٘i)I9Am@YfG JJJJJF&K Y1_~?yjEAtF77ү9B)BE[[k?[_~?[5k[[[[BZYY i) ISG?ixt @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039453.863165 s, next control iter: 1743039454.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039454.263165 s. J~,Eؐ*AJ"J*J2J:JBJnJvJALL@A>?L@AY.`~? AUA&"AAPwNA"AZAbAjArAzAAA줼,:@AoohsAZl@ASA~=A"`?A@랧?A st?A*A9?2Aֽ:A=BA9?JAֽRA=YQ?]?yz=SٓH 4`k@x~.?`ٚ X4?AJbJ?)Q? I٘i)I9l@Y G JҶJ<JJJF&Kmx> Y/_~?ySaEA]?uFZ7Z7dԯ9B)BE[[?[_~?[za[[[[BZYY i) |ߴI>G?i¿gjy  @)) @ @KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039454.283165 s, next control iter: 1743039454.663180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12953., header.stamp.nsec: 0.0 temperature: 13.565701.* salinity: 33.375595., density: 1025.000000.* values[0]: 0.576354.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039454.683165 s.lJ~,o*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085410< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743039454.683317F (some fields omitted in printout)A(\L@A[vuL@A/`~? ABAl+&"AAڔwNA"AZAbAjArAzAAA98̒:@Ao:3csAl@A2;A>=Av?AF?Ay?Aļ*A9?2Asֽ:AG=BA9?JAsֽRAG=٘i)I9l@YG JJJJJF&K Yu-_~?yXEAvFŧ7b7/֯9)B[[?[_~?[W[[[[BZYY i) 0IS)G?iſZ} ޭ@))ޭ@ޭ@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039454.683165 s, next control iter: 1743039455.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743039455.103165 s.J~,*AJ"J*J2J:Js?BJs?nJ5vJAQL@A#FL@A0`~? A.A&"AAwNA"AZAbAjArAzAAAvi:@A23ʓ^sA _k@A50=<AOu=Aqu?A?A`|?Aw˼*A9?2Aֽ:AF=BA9?JAֽRAF=٘i)I9_k@Y@G JȼJJJJF&K Y1+_~?yODAxF{7j7ׯ9B)BE[[?[_~?[M[[[[BZYY i) üIG?iǿ W=@))W=@W=@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039455.123165 s, next control iter: 1743039455.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039455.523165 s.J~,{*AAHzL@Aq L@A0`~? AAf&"AAwNA"AZAbAjArAzAAAFl:@A'YsA|j@A8 <A1=A?A@Y?A }?Aϼ*A9?2Aαֽ:Ab<=BA9?JAαֽRAb<=٘i)I9j@YG JgͼJJJJF&K Y(_~?yG0DAyF777ٯ9)B[[Q!?[٬_~?[D[[[[BZYY i) SʼI:F?iȿ @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039455.563165 s, next control iter: 1743039455.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12954, header.stamp.nsec: 00 temperature: 13.565982* salinity: 33.375587, density: 1025.000000* values[0]: 0.575604F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039455.943165 s.XdJ~,B]*AJ"J*J2J:JZ?BJZ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085410< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199072 time: 1743039455.943310F (some fields omitted in printout)Aq= #M@A5M@A0`~? AA&"AAwNA"AZAbAjArAzAAAѕ:@Aq17TsAj@AΒ=;A圲=A?AA|?Aϼ*A9?2A׽:A=BA9?JA׽RA=٘i)I9j@YmG JϼJJJJF&K Y&_~?y@>CAzF77ۯ9)B[[LR?[:_~?[O:[[[[BZYY i) t#ҼIF?iȿ  Qb@))Qb@Qb@vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039455.963165 s, next control iter: 1743039456.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039456.363165 s.J~,}>*AAYM@A FLM@A0`~? AAt&"AAwNA"AZAbAjArAzAAA3彗:@AGOsAUi@AWA=A{?AUA@w?Aм*A9?2A$J׽:A)=BA9?JA$J׽RA)=Y^?+k?yE=ٓHB#ǿ'w.ەX?Iǿ`>Ե? buvJ?)^? I٘i)I9Ui@YG J7мJ2<JJJF&Kx> Y!_~?y5ECAk?|F77j7Zݯ9)B[[V?[Ԧ_~?[0[[[[BZYY i) SټIF?i˿ׇ I@))I@I@8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039456.403165 s, next control iter: 1743039456.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12955&, header.stamp.nsec: 0&0 temperature: 13.566324&* salinity: 33.375607&, density: 1025.000000&* values[0]: 0.574762&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039456.783165 s.W J~,2*AJ"J*J2J:J#?BJ#?nJI5vJA(\M@AQM@A.`~? A}A@&"AAwNA"AZAbAjArAzAAA:@AJsAץh@A>3AH)=A&?AbA q?A&DѼ*A9?2Ad׽:Aq=BA9?JAd׽RAq=٘i)I9h@Y G JмJJJJF&K Yk_~?y,BA}F{7$߯9B)BE[[ɲ?[_~?[&[[[[BZYY i) PIF?iο⃼ Ā@))Ā@Ā@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039456.803165 s, next control iter: 1743039457.183175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039457.203165 s.J~,M*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085410< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743039457.203306F (some fields omitted in printout)AQM@A8M@A,`~? AuA&"AA7wNA"AZAbAjArAzAAA@KE:@AEsAg@A/A4\=A?AO A`g?AԼ*Ae9?2A?׽:A=BAe9?JA?׽RA=٘i)I9g@Y, G JҼJJJJF&K YL_~?yO$SBA~Fb779)B[[?[_~?[[[[[ZZ¸BZYY i¸=) <}ԼIJF?iϿ* q @))q @q @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039457.243165 s, next control iter: 1743039457.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039457.623165 s.[J~,mg*AJ"J*J2J:J?BJ?nJ5vJAGM@AXM@A*`~? AmAz&"AAwNA"AZAbAjArAzAAAߒ4:@AX #AsAZ@g@AXAb=AJ?AͲA[?AZټ*A9?2A8ֽ:A_=BA9?JA8ֽRA_=٘i)I9@g@Y G JּJJJJF&K Y._~?yAAF)7ŧ79)ƯB[[?[_~?[f[[[[ZZBZYY i) vȼIF?iϿ ħ!@))ħ!@ħ!@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039457.643165 s, next control iter: 1743039458.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12956 , header.stamp.nsec: 0 0 temperature: 13.566656 * salinity: 33.375595 , density: 1025.000000 * values[0]: 0.573923 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039458.043165 s. J~,Â*AA= ף0N@Aǘ#N@A'`~? AeA&"AA;wNA"AZAbAjArAzAAAz5z:@ANX elevatorAngleAction: 0.083288< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199492 time: 1743039458.463281F (some fields omitted in printout)AfffffN@AA,_YN@Aa$`~? A]A:&"AAwNA"AZAbAjArAzAAA5j4#Xp:@Aj(=7sAe@AYa#<A#=A)Y?A`KAg:?A1A*A&9?2A~ֽ:A%<BA&9?JA~ֽRA% Y$_~?y @Aq?F{7{7O9B)ԯBE[[5?[_~?[,[[[[ZZBZYY i) qȰI}cF?i-п< $@))$@$@y@=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039458.483165 s, next control iter: 1743039458.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12957, header.stamp.nsec: 00 temperature: 13.567054* salinity: 33.375591, density: 1025.000000* values[0]: 0.573008F (some fields omitted in printout)$_~?)  rAdjusting time to match Gazebo time: 1743039458.883165 s.z-J~,b*AA(N@Aq6N@A} `~? AUALP &"AAwNA"AZAbAjArAzAAAJ6d:@A_2sA"d@A"1<A&r=AD?AA@9(?A*A'9?2Aֽ:Ai<BA'9?JAֽRAi<٘i)I9d@Y3 G JJJJJF&K Y:^~?y@AF7779)ۯB[[?[_~?[[[[[ZZBZYY i) "ILF?iLѿA a&@))a&@a&@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039458.903165 s, next control iter: 1743039459.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039459.303165 s.U4J~,sg*AJ"J*J2J:JBJnJvJAN@AyZ~N@A`~? AMA &"AA{wNA"AZAbAjArAzAAAF+W:@A+-sA#c@A^ɸ;A0-=AD?AA@l?AlѼ*A9?2A-ֽ:AG;BA9?JA-ֽRAG;٘i)I9c@Y G JJJJJF&K YO^~?y/@AFb779)B[[?[%y_~?[$[[[[ZZBZYY i) zI{6F?iWѿ| '@))'@'@tsYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039459.343165 s, next control iter: 1743039459.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12958*, header.stamp.nsec: 0*0 temperature: 13.567466** salinity: 33.375591*, density: 1025.000000** values[0]: 0.571969*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039459.723165 s.;J~,H*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083288< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743039459.723294F (some fields omitted in printout)AzO@Ap`rN@A%`~? AEA &"AAtwNA"AZAbAjArAzAAAh+6H:@Ae~|(sA/Rc@A:A<A7?A ¿A]?A*A9?2Aֽ̝:A*BA9?JAֽ̝RA*٘i)I9Rc@YY G JJJJJF&K Yd^~?y6?AF77779B)B E[[?[o_~?[[[[[ZZBZYY i) ӍI F?iOпQ >)@))>)@>)@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039459.763165 s, next control iter: 1743039460.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039460.143165 s.V/BJ~,* *AJ"J*J2J:JBJnJvJA ףp=O@Ah0O@A`~? A=A! &"AAlwNA"AZAbAjArAzAAAC8ˮ7:@A #sAb@A̠&A<A Y^~?ym?Al?Fb77D9)B[[?[Z_~?['Ѩ[[[[ZZBZYY ihy=) qIE?i`Ͽ͸ P,@))P,@P,@*)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039460.603165 s, next control iter: 1743039460.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12959, header.stamp.nsec: 00 temperature: 13.388165* salinity: 33.391655, density: 1025.000000* values[0]: 0.689240F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039460.983165 s.OJ~,>*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.060891< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743039460.983290F (some fields omitted in printout)J"J*J2J:JBJnJvJA\O@AwO@A?`~? AL.AT &"AAZwNA"AZAbAjArAzAAA_}:@A elevatorAngleAction: 0.071782< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743039462.243286F (some fields omitted in printout)Aףp=JP@A_D1=P@A_~? AA &"AA:wNA"AZAbAjArAzAAAk$X9@Ai sAUb@A =<AIA[Axv@AͿAA?A;*A9?2Aֽ:ABA9?JAֽRA٘i)I9Ub@Y G JU;JJJJF&K Y:^~?y޿?AF77o9B)B[[7@[M&_~?[[[[[BZYY i) mX&I|E?iHɿҀ r3@))r3@r3@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039462.283165 s, next control iter: 1743039462.643175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039462.663165 s.jJ~,q*AJ"J*J2J:JH0?BJH0?nJ85vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12961, header.stamp.nsec: 00 temperature: 13.388346* salinity: 33.391678, density: 1025.000000* values[0]: 0.688612F (some fields omitted in printout)AP@AjrP@A4_~? AxA&"AA-wNA"AZAbAjArAzAAA87/γ9@AwwsAb@A`g<AOzA@AϿA ?A+<*A9?2Atֽ:A&BA9?JAtֽRA&Yd?@yzĮ<ٓHݿC¢?`8? ޿)i@<=?۬?`e?)d? I٘i)I9b@Y G JX <JjJJJF&Kw> Y^~?y?A@F:9B)E[[{H@[_~?[f[[[[BZYY iz8g=) Z}IӅE?ipɿ쀼 4@))4@4@5*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743039462.683165 s, next control iter: 1743039463.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039463.083165 s.DqJ~,S*AA)\µP@AP@A0_~? AA-E&"AAN wNA"AZAbAjArAzAAAtw9@AsAb@Ay:AA@AHпA H?AA]c<*A9?2A=ֽ:ABBA9?JA=ֽRAB٘i)I9b@Y G J8E<JJJJF&K Y•^~?yL?@AFb7b79)B[[@[A_~?[Λ[[[[BZYY i) ʢIDpE?iȿV <6@))<6@<6@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039463.123165 s, next control iter: 1743039463.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039463.503165 s.wJ~,@4*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056450< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743039463.503297F (some fields omitted in printout)J"J*J2J:JBJnJvJARP@ACVzP@A_~? A`A&"AAOwNA"AZAbAjArAzAAAN ϥ{9@A}$ArAMc@A[ۻA.AJ@A-ѿA`?A+<*A09?2AEֽ:A!BA09?JAEֽRA! I٘i)I9Mc@YW G J$~<JJJJF&K Y^~?y@AF{7j79B)BE[[y@[:^~?[Y[[[[BZYY i) ގIZE?iƿ#~ 7@))7@7@E*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039463.523165 s, next control iter: 1743039463.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12962, header.stamp.nsec: 00 temperature: 13.388259* salinity: 33.391663, density: 1025.000000* values[0]: 0.689025F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039463.923165 s.;~J~,*AA{G!Q@A';Q@A_~? AAj&"AAwNA"AZAbAjArAzAAAGZ]9@AA jٳrAc@A>AMAؑ@Af}ҿA |?Ao]<*A9?2A.ֽ:AwBA9?JA.ֽRAw٘i)I9c@Y G J8<JJJJF&K YJ{^~?y@AFb779 B)B[[ @[^~?[ [[[[BZYY i=) %ͻIEE?i~ÿ;z Qh9@))Qh9@Qh9@yg=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039463.963165 s, next control iter: 1743039464.323180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039464.343165 s.J "J *J elevatorAngleAction: 0.065721< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743039464.763286F (some fields omitted in printout)ǍQ@A"Q@AA_~? A2A&"AAvNA"AZAbAjArAzAAAU%\9@A=\ŷrAd@AC}AwiA6 @A`<ԿA/?A<*AQ9?2A]ֽ:A@ BAQ9?JA]ֽRA@ Yk?; @y+i}ٓH@@xǣ?ׇ?@{@wH?^o`?)k? I٘i)I9d@YQ G J0<J JJJF&K x>  9Y^^^~? 9yAA; @F7{7/9)B[[< @[r^~?[z[[[[BZYY i)  IE?is 1<@))1<@1<@y=X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039464.803165 s, next control iter: 1743039465.163195 s, wait time: 0.360030 s rAdjusting time to match Gazebo time: 1743039465.183165 s.˒J~,gK*AJ"J*J2J:JBJnJvJA(\Q@A<Q@AШ_~? AA,&"AAvNA"AZAbAjArAzAAA;m>8@AJrAqye@A;A!䙽A[ @A<տA@?A#<*A9?2A?ֽ:AL%BA9?JA?ֽRAL%٘i)I9ye@Y G J<JJJJF&K YN^~?yM BAFb779 B)BE[[ @[^~?[s[[[[BZYY i) cIE?iq (#>@))(#>@(#>@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039465.223165 s, next control iter: 1743039465.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039465.603165 s.74J~,f*AAQQ@A4FQ@A_~? A۩A.&"AAAvNA"AZAbAjArAzAAA8@AnXrA:f@AĒ3<AvɘA @AտAR?A<*A9?2A#׽:AuBA9?JA#׽RAu٘i)I9f@Y G J<JJJJF&K Y>^~?yrBAF77{79)ݯB[[g@[ݞ^~?[Ok[[[[BZYY i) ^~'ID?iùm {?@)){?@{?@5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039465.623165 s, next control iter: 1743039466.003181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12964 , header.stamp.nsec: 0 0 temperature: 13.387873 * salinity: 33.391685 , density: 1025.000000 * values[0]: 0.690851 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039466.023165 s.ZJ~,{*AJ"J*J2J:J0?BJ0?nJr95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065721< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743039466.023318F (some fields omitted in printout)AHz.R@A*1 !R@A_~? AԩA2&"AAۮvNA"AZAbAjArAzAAA.r8@AO*rAf@AS:<AlMA|2@AֿA?Aӧ<*A9?2A׽:AOBA9?JA׽RAO٘i)I9f@YV G JN<JJJJF&K YN/^~?y{BAF779B)گBE[[@[C^~?[c[[[[BZYY i) rֺID?iǵRh IA@))IA@IA@4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039466.063165 s, next control iter: 1743039466.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039466.443165 s.iæJ~,^*AAq= cR@ASVR@A_~? AͩA&"AAvNA"AZAbAjArAzAAAҹ8@A+HrA"g@A=&;AA:y@A ׿AJ?AV<*A9?2Aֽ:ABA9?JAֽRA٘i)I9"g@Y G J<JJJJF&K Y^~?yXtACAFZ7Z7Z9)֯B[[@[.w^~?[s\[[[[BZYY i) T;ID?i7*AJ"J*J2J:J1?BJ1?nJ95vJAR@AR@ATv_~? AƩA+E&"AAvNA"AZAbAjArAzAAAm`8@AcZ rA~g@Av6AcA@AqsؿA` ?A*<*AN9?2Aֽ:ABAN9?JAֽRAY@ܿ@yoc7ٓHVM[?? b@H[h? f`?)@ I٘i)I9g@Y G J<J<JJJF&K2x> Y ^~?ymCA@F77% 9B)ԯBE[[@[ob^~?[=U[[[[BZYY i) a9I3D?i` ~lD@))~lD@~lD@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039466.903165 s, next control iter: 1743039467.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039467.283165 s.2RJ~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065721< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743039467.283293F (some fields omitted in printout)A(\R@AXPR@Ah_~? AտA&"AAysvNA"AZAbAjArAzAAAl68@A^5rAb>h@A!AA@AAٿA?AMQ<*A9?2Aeֽ:A̾BA9?JAeֽRA̾٘i)I9>h@YY G J<JJJJF&K Y]~?yfDAF77 9)ЯB[[7@[0M^~?[6N[[[[BZYY i)  :ID?i<v\ E@))E@E@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039467.323165 s, next control iter: 1743039467.683175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12966., header.stamp.nsec: 0.0 temperature: 13.387473.* salinity: 33.391693., density: 1025.000000.* values[0]: 0.692758.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039467.703165 s.ӺJ~,*AJ"J*J2J:JBJnJvJAQS@A2R@A]Z_~? AA#Q&"AAO^vNA"AZAbAjArAzAAA͊ 8@APrAh@A@AadAM@AڿA੊?A ä<*AD9?2Akqֽ:AQBAD9?JAkqֽRAQ٘i)I9h@Y G J<B=JJJJF&K Y]~?y_jDAF77 9B)ͯBE[[v?@[x7^~?[_G[[[[BZYY i) (;ID?ih/W G@))G@G@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039467.723165 s, next control iter: 1743039468.103173 s, wait time: 0.380008 s rAdjusting time to match Gazebo time: 1743039468.123165 s.DJ~,*AAG:S@A-S@AK_~? AbA&"AAzHvNA"AZAbAjArAzAAA!/Ed7@Ar7rARi@ACAˋA@A`JڿA@E?Ag<*Ab9?2AXֽ:A>BAb9?JAXֽRA>٘i)I9Ri@YG J2<C=JJJJF&K Y]~?y3YDAF7{79)ɯB[[z@[X!^~?[@[[[[BZYY i) ;E;ID?iUQ RI))QIdI@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039468.143165 s, next control iter: 1743039468.523184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743039468.543165 s.IȾJ~,"*AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065721< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743039468.543323F (some fields omitted in printout)A= ףpS@AEИcS@A<_~? A̫A#V&"AA1vNA"AZAbAjArAzAAA?7@AQrAi@AZ:A/sA@AբۿA~?A2<*A(9?2AWֽ:AbBA(9?JAWֽRAb٘i)I9i@YPG J <JJJJF&K Y]~?yjR0EAF77O9B)ƯBE[[Y@[ ^~?[M:[[[[BZYY i) o;I tD?iI _sG))_sGVJ@S*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039468.563165 s, next control iter: 1743039468.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12967, header.stamp.nsec: 00 temperature: 13.387262* salinity: 33.391705, density: 1025.000000* values[0]: 0.693702F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039468.963165 s.|ξJ~,=*AAffffS@Aut\S@A-_~? AOA&"AAvNA"AZAbAjArAzAAA)7@A9«rAPj@AJ<AϊAM@A iܿA?A<*A9?2A+׽:AOBA9?JA+׽RAOYn> @D@yj<ٓHZ`9r=?`5i?`6,?:Á??)n> @ I٘i)I9Pj@YG J]<Ja<JJJF&KEx> Y]~?y;LEAD@F77{79B)įBE[["@[]~?[4[[[[BZYY iB=) (5;I_cD?iMzF 5E))5E9L@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039468.983165 s, next control iter: 1743039469.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039469.383165 s.վJ~,X*AJ"J*J2J:J1?BJ1?nJU:5vJA(S@AQg!S@A+_~? A잩AS&"AAvNA"AZAbAjArAzAAA CR7@ArAj@AD<AA@As,ݿA i?A <*A9?2A$1׽:AtXBA9?JA$1׽RAtX𼙘٘i)I9j@YG JO<JJJJF&K Yc]~?y FEAF779B)¯BE[[s@[/]~?[-[[[[BZYY i) [;ISD?ioA  YD)) YDM@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039469.403165 s, next control iter: 1743039469.783174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12968&, header.stamp.nsec: 0&0 temperature: 13.387084&* salinity: 33.391708&, density: 1025.000000&* values[0]: 0.694532&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039469.803165 s.zAܾJ~,gs*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076299< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743039469.803284F (some fields omitted in printout)AT@AT@A _~? AA|&"AAuNA"AZAbAjArAzAAAa;j 7@AaqrAq:k@A <A1A7@AEݿA@d?AiA<*A9?2Al׽:A{BA9?JAl׽RA{٘i)I9:k@Y*G J<JJJJF&K YE]~?y?AFAF779B)BE[[I@[P]~?[([[[[BZYY i) };IOCD?iȒ/; {B)){B:SO@*YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743039469.823165 s, next control iter: 1743039470.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039470.223165 s.J "J *J 2J :J 1?BJ 1?nJ :5vJ gJ~,H*AAzGT@A㊋:T@A ^~? AuALI&"AAuuNA"AZAbAjArAzAAA6@Aކ)rAk@AN:AeAT.@A`޿A?Au<*A9?2Aֽ:ABA9?JAֽRA٘i)I9k@YoG J3<JJJJF&K Y$u]~?y9FAFb77z9)B[[ @[ ]~?[W"[[[[BZYY i) 8;I"4D?iP4 @A))@A,P@y[D=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039470.263165 s, next control iter: 1743039470.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039470.643165 s.wJ~, **AA ףp}T@AepT@A^~? AbA &"AAƷuNA"AZAbAjArAzAAAehŹ6@Adj}trA{l@A^kAƇAr@A =Y߿A}?A?}<*A9?2A~ֽ:ABA9?JA~ֽRA٘i)I9l@YG Js<JJJJF&K Ya]~?y3FAF77E9B)BE[[r "@[]~?[[[[[BZYY i) d elevatorAngleAction: 0.076299< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743039471.063276F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333T@A4*T@AQ^~? AkA6&"AA~uNA"AZAbAjArAzAAA㑡6@Ax^гrAl@A@AmAN@AAl+?A<<*A[9?2Ajjֽ:ABA[9?JAjjֽRAY$@G@ytYAٓH `??5`,? `?)$@ I٘i)I9l@YG J<JJJJF&K#x> YJ]~?y-SGA@F9B)޹E[[#@[z]~?[[[[[BZYY i) )),>S@&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039471.103165 s, next control iter: 1743039471.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039471.483165 s.t_J~,*AA\T@A^9T@Aa^~? AA3&"AAuNA"AZAbAjArAzAAA$&N6@AC=rA m@A='ArA @A`|^A?Ad<*A9?2A/ֽ:AIBA9?JA/ֽRAI٘i)I9 m@YFG J͎<JJJJF&K Y4]~?yz(GAF{7{79)B[[%@[_a]~?[z[[[[BZYY i) (o- elevatorAngleAction: 0.076299< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743039472.323293F (some fields omitted in printout)AGzTU@ApwnGU@A]^~? A4uAv&"AA$KuNA"AZAbAjArAzAAA@5@AfcNrAm@A8լ;A䏽A!@A A&?A<*AF9?2A}׽:Ar7BAF9?JA}׽RAr7٘i)I9m@YG J<JJJJ F&K Y]~?ythHAFŧ7b7p!9"B)BعE[[(!(@[.]~?[[[[[BZYY i) -yL Y&\~?y()IAL$@F77j7%9#B)BչE[[!+@[\~?[8[[[[BZYY i) 4k elevatorAngleAction: 0.076299< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743039473.583306F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\U@A{U@Ah^~? AeAF&"AAtNA"AZAbAjArAzAAA,1GN-5@AEvrAqo@A;AqA%@AvA'?A%-<*A"9?2Aֽ:A BA"9?JAֽRA ٘i)I9qo@YG J%<JJJJ F&K Yp\~?y_IAF&9'B)BѹE[[=,@[@\~?['[[[[BZYY i) jz elevatorAngleAction: 0.085291< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743039474.843285F (some fields omitted in printout)Ap= V@A#ظV@A*^~? AVA;&"AAtNA"AZAbAjArAzAAAld}s4@AY\OrA(q@A@A_As)@A A?AC<*A9?2AnZֽ:ABA9?JAnZֽRA٘i)I9q@YG J<JJJJF&K YQ|\~?yJAFb770,9*B)B˹E[[1@[\~?[H[[[[BZYY i)  Y/c\~?y#KA*@F-9+B)BȹE[[2@[s\~?[ [[[[BZYY i)  elevatorAngleAction: 0.085291< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743039476.103313F (some fields omitted in printout)AQ8W@AI+W@A]~? AFHA&"AAG7tNA"AZAbAjArAzAAA۟y"3@AHr rAr@A&<A;ʣAw-@A A?Aͬ<*A9?2Ay"׽:ABA9?JAy"׽RA٘i)I9r@YG J<JJJJF&K Y0\~?yKAFj719)B[[Sy5@[<\~?[7[[[[BZYY i) }srADVs@A4>B<AiA.@A jA?A<*A9?2A ׽:ABA9?JA ׽RA٘i)I9Vs@YG JV<JJJJF&K Y\~?ycLAFZ7SI7Z390B)BE[[A6@[y!\~?[[[[[BZYY i) [[[[BZYY i) fW*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085291< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743039477.363264F (some fields omitted in printout)AW@As`W@A]~? A;A&"AAsNA"AZAbAjArAzAAA{2@AV8rA[t@A':AKaAT1@A mA`?A<*A9?2Aֽ҆:ABA9?JAֽ҆RAYM#@#S1@yIa"1(:ٓH`1׿ A? T?" `?`D?@?)M#@ I٘i)I9t@YG JU<C=J JJJF&K#x> Y[[~?yAMAS1@F878769)BE[[!9@[g[~?[ [[[[BZYY i)  elevatorAngleAction: 0.085291< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743039478.623287F (some fields omitted in printout)AGzX@ArmX@Ac]~? Aq0A&"AAjsNA"AZAbAjArAzAAAWf42@AiwVrAyv@AW!A屽A-5@A A?A:<*A9?2A.Pֽ:ABA9?JA.PֽRA٘i)I9v@Y G J<B=JJJJF&K Yu[~?y<ߧNAF77P<9)B[[>@[p[~?[ۧ[[[[BZYY i) +95B){BE[[?@[|[~?[Iڧ[[[[BZYY i) u Y_[~?y٧OA7@F?96B)wBE[[K@@[<`[~?[٧[[[[ZZZZ¸>BZYY i¸>,) 1@AU@dFEyrADx@A8<AZ A49@AA$?A<*Am9?2A?׽:ABAm9?JA?׽RA٘i)I9x@YMG JH<JJJJ!F&K YD[~?y_קPAF)7ŧ7A97B)rBE[[VB@[D[~?[ا[[[[ZZZZBZYY i) _: r))r#t@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039480.343165 s, next control iter: 1743039480.703175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12979., header.stamp.nsec: 0.0 temperature: 13.384888.* salinity: 33.391720., density: 1025.000000.* values[0]: 0.705365.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039480.723165 s.J~,H.*AAzY@Ap`rzY@A\~? A A"!&"AArNA"AZAbAjArAzAAA g50@AgUurA*4z@A0;AqߗA;@A`oA@8"?A <*A9?2A}ֽ:AXBA9?JA}ֽRAX٘i)I94z@YHG J=JJJJ$F&K Yh[~?yҧPAF7)7EE99B)gBE[[ E@[ [~?[֧[[[[ZZZZBZYY i) th: )).v@y烪*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039480.763165 s, next control iter: 1743039481.123174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743039481.143165 s.S/J~,)I*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743039481.143285F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףpY@A(hY@A\~? AAQ!&"AAёrNA"AZAbAjArAzAAALBSa0@AHA trAf{@A_AsAg =@A')A`#z?AY<*A49?2Aֽ:A?ehBA49?JAֽRA?eh٘i)I9{@YG J<JJJJ%F&K Y7Z~?y[ЧlQAF777G9)aB[[F@[wZ~?[7֧[[[[ZZZZBZYY i) <; Q))Qdw@U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039481.163165 s, next control iter: 1743039481.543174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743039481.563165 s.J~,V d*AA3333Y@A?,Y@As\~? AcA!&"AAlrNA"AZAbAjArAzAAA!w0@Azv|rrA{@AtAA/AT>@AtPA`?A<*A9?2Axֽ:AYλBA9?JAxֽRAYλYT0@Z>@y?/fٓH<`]ſ Ť?uK?` >?z?)T0@ I٘i)I9{@Y?G JM<J=JJJ'F&K!x> YQZ~?yΧQAZ>@Fj7j7H9;B)]BE[[G@[Z~?[է[[[[ZZZZBZYY i嗽) 20; u())u(@x@2s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039481.583165 s, next control iter: 1743039481.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12980, header.stamp.nsec: 00 temperature: 13.384570* salinity: 33.391735, density: 1025.000000* values[0]: 0.706921F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039481.983165 s.J~,~*AJ"J*J2J:J4?BJ4?nJ=5vJA\(Z@AZ@A\~? AAO!&"AA'GrNA"AZAbAjArAzAAAM)1eі/@A(qrAn|@A*AF мAR?@AuA h?AS<*AI9?2A|ֽ:AOc:BAI9?JA|ֽRAOc:٘i)I9n|@YG J-<JJJJ(F&K YoZ~?ykͧQAFb77J9=S; ))cz@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039482.003165 s, next control iter: 1743039482.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039482.403165 s.&J~,͙*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074169< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743039482.403301F (some fields omitted in printout)AQ^Z@AQZ@A\~? AA!&"AAq!rNA"AZAbAjArAzAAAq.@A{orA|@A:UA A@@A Ak ?AW}<*A9?2Aqֽ:AO0<BA9?JAqֽRAO0<٘i)I9|@YG J<JJJJ)F&K YZ~?y˧RAFj7j7pL9=B)UBE[[!J@[YZ~?[֧[[[[ZZZZBZYY i) ]rW{; P))P{@rJ)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039482.423165 s, next control iter: 1743039482.803179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12981, header.stamp.nsec: 00 temperature: 13.384320* salinity: 33.391720, density: 1025.000000* values[0]: 0.708155F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039482.823165 s.J~,-*AJ"J*J2J:JBJnJvJAGzZ@AoZ@Ao\~? AA "&"AAqNA"AZAbAjArAzAAAԑu_+g.@Aݳ;dnrA&J}@A7;Ad;An;B@AA j6?A?m#<*Aذ9?2APֽ:Ay<BAذ9?JAPֽRAy<٘i)I9J}@Y)G JqW<JJJJ+F&K YZ~?y{ʧXRAF77;N9)SBE[[L@[jZ~?[S֧[[[[ZZZZBZYY i) )mؓ; ))9}@y#HYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039482.843165 s, next control iter: 1743039483.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039483.243165 s.񵳿J~,X*AAףp=Z@A5'/2Z@ARV\~? AA#4"&"AAXqNA"AZAbAjArAzAAAV-@A~i8mrAh}@Ay~ <A'<A7C@AA@_?As;*A9?2Ae,ֽ:Aܪ<BA9?JAe,ֽRAܪ<٘i)I9}@YIG J;JJJJ,F&K YgZ~?yɧRAF77P9>B)RBE[[aM@[jZ~?[֧[[[[BZYY i) .W5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083488< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743039483.663272F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12982, header.stamp.nsec: 00 temperature: 13.384199* salinity: 33.391727, density: 1025.000000* values[0]: 0.708754F (some fields omitted in printout)A[@AoDZ@A<\~? AABX"&"AAqNA"AZAbAjArAzAAA =4-@AD$lrA}@A;B<A6=AD@AAф?A9*A9?2A%ֽ:Af<BA9?JA%ֽRAfJJJ-F&Kv> YKZ~?ynȧeRAD@Fb7Q9?B)E[[N@[OZ~?[uק[[[[BZYY im) N1FۿJ~,5DA`gA*?A\*A9?2AV&ֽ:A=BA9?JAV&ֽRA=٘i)I9p{@YG JZC=JJJJ7F&K Y݅Y~?y\ħ&QAFb77[^9)gBE[[X@[kY~?[[[[[BZYY i) Cߘ;ID?ir? 5< Ag))Ag:܄@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039486.623165 s, next control iter: 1743039487.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12985 , header.stamp.nsec: 0 0 temperature: 13.384568 * salinity: 33.391697 , density: 1025.000000 * values[0]: 0.707501 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039487.023165 s.ZJ~,|*AJ"J*J2J:JBJnJvJAHz\@Ae\@An[~? AAd#&"AA4wpNA"AZAbAjArAzAAACR(@AMgrAz@Ac7<A!?=ABAnA?A딳*A9?2Aֽ:AW=BA9?JAֽRAW=٘i)I9z@YG J8JJJJ8F&K YiY~?yçPAF7777&`9CB)lB}E[[OGY@["Y~?[|[[[[BZYY i) :.l;ID?i?)E<  )) @kܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039487.063165 s, next control iter: 1743039487.423176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039487.443165 s.AJ~,h]*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067956< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743039487.443295F (some fields omitted in printout)Aq= \@A+4\@AT[~? AoA#&"AAOpNA"AZAbAjArAzAAA'|qR'@AbYRfrADz@A$<AK=AAAsA?A*A9?2A;ֽ:A=BA9?JA;ֽRA=٘i)I9Dz@YRG JJJJJ9F&K YcMY~?y2çPAF7{7a9)qBzE[[Z@[GkY~?[}[[[[BZYY i) ܙ&;I$D?ip? W< k))k%4@ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039487.483165 s, next control iter: 1743039487.843180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12986, header.stamp.nsec: 00 temperature: 13.384829* salinity: 33.391708, density: 1025.000000* values[0]: 0.706452F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039487.863165 s.+J~,>*AJ"J*J2J:JBJnJvJA]@AZՒ ]@A:[~? ALAj#&"AAw(pNA"AZAbAjArAzAAAEq'@A frAry@Am;A=AH@AuAar?Ay*A9?2Aֽ:AB=BA9?JAֽRAB=YZC@:D@y=en;ٓH૙ ?` 6{BU}m??)ZC@ I٘i)I9y@YG J̹B=J=JJJ;F&K> Yk1Y~?yfħ_PAD@FZ7Z7c9)vB[[[@[RY~?[[[[[BZYY i) :If7D?i?_< a^))a^@ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039487.903165 s, next control iter: 1743039488.263178 s, wait time: 0.360013 s&k1Y~?)&fħ rAdjusting time to match Gazebo time: 1743039488.283165 s.:RJ~,+AA(\O]@A*QB]@A [~? ASA#&"AApNA"AZAbAjArAzAAAz&@AUC/frA! y@A@A=A>A`uA񮅿A{7*A9?2Aֽ:AV =BA9?JAֽRAV =٘i)I9 y@YG JC=JJJJ<F&K YwY~?yŧOAF77{7e9DB){BwE[[]@[Y:Y~?[[[[[BZYY i) m>:IJD?i?h< Q))Q@^ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039488.303165 s, next control iter: 1743039488.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12987., header.stamp.nsec: 0.0 temperature: 13.385125.* salinity: 33.391670., density: 1025.000000.* values[0]: 0.705278.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039488.703165 s.ܺ J~,*-+AJ"J*J2J:J4?BJ4?nJR=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067956< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743039488.703286F (some fields omitted in printout)AQ]@A ~x]@A[~? AA#&"AAoNA"AZAbAjArAzAAAIh%@At6frAtx@A#-A!=A=AsAIAA셴*A9?2Aֽ:Ag=BA9?JAֽRAg=٘i)I9tx@Y7G JB=JJJJ>F&K Y}X~?yƧOAF7Qg9)BtE[[f^@[Z"Y~?[[[[[BZYY i) <AIW_D?i?r< ))[8@VڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039488.723165 s, next control iter: 1743039489.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039489.123165 s.8J~,aG+AAG]@A{jխ]@AZ~? AA8 #&"AAFoNA"AZAbAjArAzAAA=>%@Ai T1grAw@AJ{2A͜=A N<AmA`ȤA=*AC9?2A.ֽ:AHq=BAC9?JA.ֽRAHq=٘i)I9w@YG JC=JJJJ?F&K YX~?yȧOAFŧ7ŧ7i9)BqE[[(_@[ Y~?[;[[[[BZYY i) 'ItD?in?p}< eY))eY(@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039489.163165 s, next control iter: 1743039489.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039489.543165 s.IJ~,b+AJ"J*J2J:Jh4?BJh4?nJ+=5vJA= ף]@AX]@AZ~? Ah A#&"AAoNA"AZAbAjArAzAAAʄs$@A{grAFw@AAɚ=A;A`fA`A貼*A9?2A ֽ:A,=BA9?JA ֽRA,=٘i)I9Fw@YG J첼JJJJ@F&K YX~?y9ɧNAFZ7SI7j9)BnE[[`@[{X~?[[[[[BZYY i) d#I D?i?"<  )) S@,ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039489.583165 s, next control iter: 1743039489.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12988, header.stamp.nsec: 00 temperature: 13.385387* salinity: 33.391678, density: 1025.000000* values[0]: 0.704139F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039489.963165 s.~J~, }+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067956< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743039489.963292F (some fields omitted in printout)Affff&^@At ^^@AZ~? A A "&"AAcoNA"AZAbAjArAzAAA,j$@A~grANv@A;3;A=AS9A[A`A*A9?2AFkֽ:A^=BA9?JAFkֽRA^=YXJ@9y=X4;ٓHL?`=ο$@; f?A?)XJ@ I٘i)I9v@Y$G JB=J"JJJBF&Kx> Y%X~?yO˧HNA9F77l9)BkE[[4b@[X~?[[[[[BZYY i) *?ID?i+?< a))a^7@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039490.003165 s, next control iter: 1743039490.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039490.383165 s.%J~,+AJ"J*J2J:J4?BJ4?nJ<5vJA(\^@AcdO^@A;Z~? A A/"&"AAa YX~?y֧PLA=3F7777u9)B`E[[wh@[PlX~?[h[[[[BZYY i`) I!E?i ?< ))]@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039492.103165 s, next control iter: 1743039492.463184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743039492.483165 s.w_GJ~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078308< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743039492.483283F (some fields omitted in printout)A\h_@AV[_@AZ~? AA8p"&"AAynNA"AZAbAjArAzAAAꑩ-^ @A(ՈlrAYhs@A]<A=A1AA@fSĿA/*A9?2A ׽:A)<BA9?JA ׽RA)<٘i)I9hs@Y%G JJJJJJJF&K Y.X~?y٧KAFb77qw9)B]E[[Ķi@[VX~?[[[[[BZYY i) <: I=E?i@2P< I))I쿩]@;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039492.523165 s, next control iter: 1743039492.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12991, header.stamp.nsec: 00 temperature: 13.386209* salinity: 33.391670, density: 1025.000000* values[0]: 0.700943F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039492.903165 s.MJ~,9+AJ"J*J2J:Jq3?BJq3?nJ(<5vJAQ_@A'_@AZ~? AtALN"&"AA:SnNA"AZAbAjArAzAAAI.@AmrAr@Ay A4=A0A@A3/ƿA*A9?2Aֽ:A9 <BA9?JAֽRA9 <٘i)I9r@YG J蒼B=JJJJKF&K YW~?y}ܧKAF7)7 Y̙W~?y&uJA,Fb7~9CB)BTE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #81q/Q^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) [H)ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039494.183165 s, next control iter: 1743039494.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039494.583165 s.hJ~,R+AJ"J*J2J:J3?BJ3?nJ;5vJA)\u`@Atysh`@AY~? ATA!&"AA/mNA"AZAbAjArAzAAA@AˇLsrAp@A <A=Aw+AvHAnzͿAГ*A9?2AUnֽ:A6 =BA9?JAUnֽRA6 =٘i)I9p@YG J꘼JJJJPF&K YFW~?yJAF77{7f9)BQE[[%o@[W~?[[[[[BZYY i) >AXIζE?i@.k< 3)) 3࿩@~ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039494.603165 s, next control iter: 1743039494.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12993, header.stamp.nsec: 00 temperature: 13.386673* salinity: 33.391663, density: 1025.000000* values[0]: 0.699155F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039495.003165 s. pJ~,r4+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078308< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743039495.003317F (some fields omitted in printout)AR`@A|z`@AY~? AAu!&"AAĕmNA"AZAbAjArAzAAA]ˡ@AtrADvp@Ag6;A<=A{*A@VAпA*AZz:?2A`½:Afb =BAZz:?JA`½RAfb =٘i)I9vp@YZG JJJJJRF&K YfW~?yIAF)7ŧ719)BNE[[q@[+xrAVqo@A6A==A(AA:ѿAAM*A:?2A` ƽ:Ao =BA:?JA` ƽRAo = I٘i)I9qo@YG J̛JJJJTF&K Y3W~?y=HAF77{7ƅ9)ǯB[[{s@[/W~?[Y)[[[[BZYY i) v/IF?i !@< < 'ؿ))'ؿߒ@ѪYqYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039495.883165 s, next control iter: 1743039496.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039496.263165 s.J~J,,+A"J*J2J:J2?BJ2?nJM;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078308< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743039496.263280F (some fields omitted in printout)ALa@AJ@L?a@A @Y~? A'A &"AA&mNA"AZAbAjArAzAAA4,@A zrAn@Av*A]=A\z'AA ѿAR*A:?2AȽ:A)E =BA:?JAȽRA)E =YB\@S'yZ=g+ٓH@@?y뮿߿`@Q f5R@?)B\@ I٘i)I9n@YiG JMJ k<JJJVF&KF> YEW~?yHA'F779BB)˯BIE[[t@[W~?[-[[[[BZYY i) HI0?F?i4$@X.< GUֿ))GUֿz@sժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039496.283165 s, next control iter: 1743039496.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 129952, header.stamp.nsec: 020 temperature: 13.3871142* salinity: 33.3916512, density: 1025.0000002* values[0]: 0.6972602F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039496.683165 s.lJ~,^++AA(\a@Azua@A'Y~? A*A> &"AAmNA"AZAbAjArAzAAAo@Av{rA`n@A)ꅻA\=AD&A˜AҿAC*A":?2Ax8˽:A\=BA":?JAx8˽RA\=٘i)I9`n@YG J^JJJJWF&K YW~?y %HAF7\9)ϯBFE[[u@[7W~?[2[[[[BZYY i) 9IEcF?i'@< ӿ))ӿc@!٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039496.683165 s, next control iter: 1743039497.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743039497.103165 s.J~,F+AJ"J*J2J:J_2?BJ_2?nJ ;5vJAQa@A]Ea@A"Y~? A".AU &"AAlNA"AZAbAjArAzAAAG4@As.h}rA4m@A2;ASF=A%A`tpA{ӿAo*A|:?2Auͽ:A=BA|:?JAuͽRA=٘i)I9m@YG J"JJJJXF&K YaV~?ysGAFb77&9)ӯBCE[[bw@[UW~?[~7[[[[BZYY iQ) þI3F?i+@< ѿ))ѿ,@DܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039497.123165 s, next control iter: 1743039497.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039497.523165 s.J~,{a+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199492 time: 1743039497.523282F (some fields omitted in printout)AHza@A a@AxX~? A1A &"AAlNA"AZAbAjArAzAAA ʴu=@A*!NrA7m@A~/<A=A#A]@A@IԿA*As:?2AxϽ:A=BAs:?JAxϽRA=٘i)I97m@Y`G JuJJJJZF&K YV~?yTGAF79)دB[[Ex@[mW~?[Y<[[[[BZYY i) CIF?i0@Td<  ,Ͽ)) ,ϿD@ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039497.543165 s, next control iter: 1743039497.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12996, header.stamp.nsec: 00 temperature: 13.387414* salinity: 33.391636, density: 1025.000000* values[0]: 0.696268F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039497.943165 s.\dJ~,S]|+AJ"J*J2J:J>2?BJ>2?nJ:5vJAq= #b@Ag,b@AX~? A5A&"AAlNA"AZAbAjArAzAAA9/@A!1rAl@A!:<A(=Aj"Aj AտA*Af:?2ATѽ:A=BAf:?JATѽRA=٘i)I9l@YG J\JJJJ[F&K Y|V~?yB FAF79AB)ܯB@E[[ry@[\W~?[EA[[[[BZYY i) 7ɨIF?i4@u< ̿))̿\ە@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039497.963165 s, next control iter: 1743039498.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039498.363165 s.J~,>+AAYb@AkGqLb@AX~? A8A'&"AArlNA"AZAbAjArAzAAA4^@A srAl@A;AO=A$!A@AտA}*AY:?2Aӽ:AA=BAY:?JAӽRAA=Yc@!y=[;ٓH@Q?``ox??)c@ I٘i)I9l@YG JKJD<JJJ\F&Kw> YV~?yi}FA!F77779)B>E[["z@[KW~?[WF[[[[BZYY i) u*IyF?i7@sH< ;qʿ));qʿs@y7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039498.383165 s, next control iter: 1743039498.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12997&, header.stamp.nsec: 0&0 temperature: 13.387662&* salinity: 33.391640&, density: 1025.000000&* values[0]: 0.695149&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039498.783165 s.WJ~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743039498.783295F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\b@AOb@AײX~? A<A@&"AAOlNA"AZAbAjArAzAAA!-@AUyˆrAFek@A9A =AGAaAֿAŘ*AOL:?2A{uԽ:A#=BAOL:?JA{uԽRA#=٘i)I9ek@YDG JJJJJ^F&K YV~?y FAFj7Q9)B;E[[{@[[;W~?[{K[[[[BZYY i) ؋I$G?i1;@< ȿ))ȿ @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039498.803165 s, next control iter: 1743039499.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039499.203165 s.J~,+AAQb@A9cb@A!X~? A@A^&"AA,lNA"AZAbAjArAzAAA44 @A[:rAj@AصA=AQA ]A׿A:%*A7@:?2A|ս:Az=BA7@:?JA|սRAz=٘i)I9j@YG JJJJJ_F&K YtV~?yEAFb779)B[[|@[8+W~?[P[[[[BZYY i) IMG?i>@n< ſ))ſZ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039499.243165 s, next control iter: 1743039499.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039499.623165 s.TJ~,P+AJ"J*J2J:JBJnJvJAGb@AJVb@AX~? ADAD&"AA lNA"AZAbAjArAzAAAt @AqrAP*j@A(v?A =AAAmؿAh*A4:?2Aֽ:A=BA4:?JAֽRA=٘i)I9*j@YG JּJJJJ`F&K Y]V~?y/EAF77j7数9@B)B8E[[{)~@[W~?[U[[[[BZYY i) COƼIwG?iC@ʿ< dÿ))dÿ6@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039499.643165 s, next control iter: 1743039500.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12998 , header.stamp.nsec: 0 0 temperature: 13.387930 * salinity: 33.391609 , density: 1025.000000 * values[0]: 0.694030 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039500.043165 s.J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743039500.043273F (some fields omitted in printout)A= ף0c@A?N#c@AoX~? AIAkS&"AAkNA"AZAbAjArAzAAA7i;@Ab~<`ZrAi@A-AQ}=AA2A L;ٿAxƼ*A*:?2ALֽ:Am=BA*:?JALֽRAm=٘i)I9i@Y!G JQ¼JJJJbF&K YGV~?y%DAF7779?B)B5E[[R@[6 W~?[?[[[[[BZYY i) ͼIG?iG@.< W))W˘@kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039500.083165 s, next control iter: 1743039500.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039500.463165 s.dJ~,"+AJ"J*J2J:J1?BJ1?nJ%:5vJAfffffc@AM]Yc@AYX~? AoMA&"AA|kNA"AZAbAjArAzAAAae;@A: rA0h@A9Al=AzjA%A`EڿA ϼ*A! :?2ADֽ:A^^=BA! :?JADֽRA^^=Yi@iyk=b9ٓH8 O?P; L[] Y2V~?y*GDAiFZ7SI7|9)B[[>@[V~?[`[[[[BZYY i) ԼI8G?icJ@c= ))`@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039500.503165 s, next control iter: 1743039500.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12999, header.stamp.nsec: 00 temperature: 13.388235* salinity: 33.391621, density: 1025.000000* values[0]: 0.692874F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039500.883165 s.yJ~,<8+AA(c@At c@ADX~? AQA&"AAkNA"AZAbAjArAzAAAᠸe]y@A%n"ГrA*,h@AI<AK=Ao%A)TAsڿAf ׼*A:?2A1:ֽ:A=BA:?JA1:ֽRA=٘i)I9,h@YM G JҼJJJJdF&K YV~?y0CA F77F9)B3E[[!Ԁ@[QV~?[5f[[[[ZZ¸BZYY i¸MG=) ?ȼIlG?iM@!= f))f@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039500.923165 s, next control iter: 1743039501.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039501.303165 s.WJ~,{gS+AJ"J*J2J:J81?BJ81?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084609< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743039501.303287F (some fields omitted in printout)Ac@AiTc@A.X~? AVAM&"AA kNA"AZAbAjArAzAAA Yu@A@\rA0ug@AA<A=AA` AۿANܼ*A:?2A;Wֽ:A !=BA:?JA;WֽRA !=٘i)I9ug@Y G JټJJJJfF&K YV~?y6WCA F77779)B0E[[ih@[V~?[k[[[[ZZBZYY i) ݼIY'H?iQ@= ))d@bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039501.343165 s, next control iter: 1743039501.703175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13000., header.stamp.nsec: 0.0 temperature: 13.388537.* salinity: 33.391594., density: 1025.000000.* values[0]: 0.691615.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039501.723165 s.J~,Hn+AAzd@Azc@AX~? As[Aw&"AAfkNA"AZAbAjArAzAAA {m y@AjrAf@AV<Aj=AچAASܿAc*A:?2Ḁֽ:A=BA:?JḀֽRA=٘i)I9f@Yb G JJJJJgF&K YU~?yr<BA Fb77ܞ9) B[[@[ V~?[_q[[[[ZZBZYY i) yٰI#UH?iT@B= Kȷ))Kȷ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039501.743165 s, next control iter: 1743039502.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039502.143165 s.T/J~,)+AJ"J*J2J:JBJnJvJA ףp=d@A"d0d@A9X~? Ab`A&"AAFkNA"AZAbAjArAzAAA3ʈ ?At"B)B,E[[&@[V~?[w[[[[ZZBZYY i) -֤IԃH?i,Y@ = ~))~!@yo=-ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039502.163165 s, next control iter: 1743039502.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039502.563165 s.J~,= +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084609< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743039502.563276F (some fields omitted in printout)A3333sd@A?p'fd@AW~? AreA1&"AAz'kNA"AZAbAjArAzAAAF>1?AbbrA d@AAVw=AAf'AXݿA0*AW$:?2A"׽:A d<BAW$:?JA"׽RA d YU~?yHBAF777q9=B)B)E[[^"@[-V~?[|[[[[ZZBZYY i) IH?i[@ = .)).YD@BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039502.603165 s, next control iter: 1743039502.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13001, header.stamp.nsec: 00 temperature: 13.388883* salinity: 33.391602, density: 1025.000000* values[0]: 0.690107F (some fields omitted in printout)2U~?)2H rAdjusting time to match Gazebo time: 1743039502.983165 s.J~,+AJ"J*J2J:JBJnJvJA\d@A[d@AW~? AjA&"AAkNA"AZAbAjArAzAAAީh?AҲޢrA3d@AmKA3=AAA`s޿Aμ*A6&:?2A׽:A;BA6&:?JA׽RA;٘i)I93d@Y G JYJJJJkF&K YηU~?yROAAFŧ7b7<9)B[[嵃@[9V~?[[[[[ZZBZYY i) KIH?i^@k= ߰))߰ל@f{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039503.003165 s, next control iter: 1743039503.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039503.403165 s.&J~,+AAQd@Avd@A[W~? AoAtf&"AAjNA"AZAbAjArAzAAARƍ?A?Q<rA c@A;;A+<A9A`\AQK߿A'H*Ab#:?2A ׽:AB'BAb#:?JA ׽RAB'٘i)I9c@Y G JJJJJmF&K YU~?yUnAAF779)!B'E[[H@[V~?[[[[[ZZBZYY i) 0II?ia@= ))j@=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039503.423165 s, next control iter: 1743039503.803180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13002, header.stamp.nsec: 00 temperature: 13.389242* salinity: 33.391575, density: 1025.000000* values[0]: 0.688712F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039503.823165 s.J~,)+AJ"J*J2J:JO0?BJO0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084609< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743039503.823290F (some fields omitted in printout)AGze@A>!;oe@AW~? AfuA&"AAvjNA"AZAbAjArAzAAA'p?A\orAcc@AkA; <A{A5AA{=*A :?2A ׽:A-BA :?JA ׽RA-٘i)I9c@Y1 G J[JJJJnF&K YU~?yW\AAFb77ѧ9)%B[[ڄ@[V~?[m[[[[ZZBZYY i) oIije@= M))M@sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039503.863165 s, next control iter: 1743039504.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039504.243165 s.J~,u+AAףp=Je@Am2=e@A2W~? AzA#&"AAjNA"AZAbAjArAzAAAI ?A=LլrA%b@Ag;ApɻAA-A`ZA>*A]:?2A#׽:AWBA]:?JA#׽RAW٘i)I9b@Y G JiJJJJoF&K Y~U~?yb@AFZ7Z79/B)B$E[[k@[̅V~?[][[[[ZZBZYY i) XIili@d=  )) @(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039504.283165 s, next control iter: 1743039504.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039504.663165 s. J~,q*+AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13003, header.stamp.nsec: 00 temperature: 13.389518* salinity: 33.391560, density: 1025.000000* values[0]: 0.687591F (some fields omitted in printout)Ae@Are@AW~? AAm$&"AA#jNA"AZAbAjArAzAAA^SGv?A<4FMrAkb@A+<AzAP A`A`7A*Aa:?2A8׽:A|BAa:?JA8׽RA|YGv@NT y?x++<ٓH Ϸ?Dp? ל?@n?`wx?`?)Gv@ I٘i)I9kb@Y G J&B=J2FJJJqF&Kx> YmU~?yi@AT F7777g9.B)B!E[[Q@[FzV~?[p[[[[ZZBZYY iեv=) FIik@= ;));L @)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039504.683165 s, next control iter: 1743039505.063174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743039505.083165 s.DJ~,SE+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.060217< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743039505.083294F (some fields omitted in printout)A)\µe@A닄e@A~W~? AqAj&"AAQxjNA"AZAbAjArAzAAApB?A8._m׳rA Jb@A05<A A5 Am2A@uA *Ax9?2A%*׽:AԼBAx9?JA%*׽RAԼ٘i)I9Jb@Y G JYC=JJJJrF&K Y\U~?y qAAF7719/B)B"E[[R@['oV~?[[[[[BZYY iMf=) 4Ii>n@y= 7v))7vM@;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039505.123165 s, next control iter: 1743039505.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039505.503165 s.J~,;4`+AJ"J*J2J:JBJnJvJARe@Aze@AlW~? AZA,B&"AA]jNA"AZAbAjArAzAAA$\!X?A"w)BsrALb@AB;AFp;AL A`߿AiZA'd;*A69?2Aֽ:A#BA69?JAֽRA#9٘i)I9Lb@Y G J:9JJJJsF&K YLU~?y!xAAF9)BE[[!@[ndV~?[[[[[BZYY i) "Ii9q@]b= 0))0C@{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039505.543165 s, next control iter: 1743039505.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13004, header.stamp.nsec: 00 temperature: 13.389566* salinity: 33.391563, density: 1025.000000* values[0]: 0.687512F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039505.923165 s.=J~,{+AA{G!f@A ?f@A^[W~? A`A&"AAjBjNA"AZAbAjArAzAAA&-ɿAeE rAsrb@A9VHAG`Aqr A޿AA(<*A9?2Aֽ:A|aBA9?JAֽRA|a٘i)I9rb@Y G Jy;JJJJuF&K YC;U~?y9;AAFŧ7b7ǰ9)B[[a@[ZV~?[ݬ[[[[BZYY i) Iit@= ))\Ԡ@yG=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039505.963165 s, next control iter: 1743039506.323180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039506.343165 s.<%J~,+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.070996< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743039506.343294F (some fields omitted in printout)Ap= Wf@A>Jf@AcJW~? AA8W&"AAX(jNA"AZAbAjArAzAAAvٿA޾rA=b@A'A'4Az,A +E޿AACA<*A9?2Aiֽ:A BA9?JAiֽRA ٘i)I9b@Y G J<JJJJvF&K Yj*U~?yQWAAFb779.B)BE[[)B@[3PV~?[ [[[[BZYY i) jIIiPx@= ۮ))ۮ$d@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039506.363165 s, next control iter: 1743039506.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13005*, header.stamp.nsec: 0*0 temperature: 13.389506** salinity: 33.391556*, density: 1025.000000** values[0]: 0.687843*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039506.763165 s.6+J~,ذ+AǍf@A1~f@A9W~? AA&"AAjNA"AZAbAjArAzAAA`AD&rAc@AFA򃋽AWAݿAGAs<*A9?2Akֽ:A&BA9?JAkֽRA&YE}@yO[GٓH`M@?)&?OsU\Ǫ?@l? o܈e?)E}@ I٘i)I9c@Y1 G JaY<J(JJJwF&Kw> YU~?y㍨AAF77{7\9)B[[҈@[FV~?[U[[[[BZYY i8l=) \޻Ii@z@( =  l)) l@<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039506.803165 s, next control iter: 1743039507.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039507.183165 s.2J~,g+AJ"J*J2J:J-0?BJ-0?nJ85vJA(\f@Af@A)W~? AAc&"AA iNA"AZAbAjArAzAAA$AbrAz~c@AHA˚AA@8ܿA@!A.?<*A9?2AVֽ:A,2BA9?JAVֽRA,2٘i)I9~c@Yt G J<JJJJyF&K Y U~?yvBAF'9/B)BE[[c@[X=V~?[[[[[BZYY i) mIi|@ != +))+@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039507.203165 s, next control iter: 1743039507.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039507.603165 s.749J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057832< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743039507.603282F (some fields omitted in printout)AQf@AY0Gf@AW~? AAN&"AAiNA"AZAbAjArAzAAA)OAcuxrAlc@A:AAq6A@ܿAA}<*Ah9?2A׽:ANBAh9?JA׽RAN٘i)I9c@Y G J<JJJJzF&K Y%T~?ypBAFŧ779)B[[@[4V~?[Ũ[[[[BZYY i) K~Ii@@c\#= 엿))엿@S*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039507.623165 s, next control iter: 1743039508.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13006 , header.stamp.nsec: 0 0 temperature: 13.389331 * salinity: 33.391537 , density: 1025.000000 * values[0]: 0.688623 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039508.023165 s.Z@J~,{+AJ"J*J2J:JBJnJvJAHz.g@A΍ !g@A W~? A Ah&"AAFiNA"AZAbAjArAzAAAfk0tA]vrAQd@A <AA`A9ۿA&A'<*A9?2AD׽:ABA9?JAD׽RA٘i)I9d@Y G Jɡ<JJJJ{F&K YT~?yBA!F79) B[[@[,V~?[V̨[[[[BZYY i) Ii'@Q%= ))@yMm=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039508.043165 s, next control iter: 1743039508.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039508.443165 s.1FJ~,%]+AAq= cg@ArMVg@AV~? AA"&"AA^iNA"AZAbAjArAzAAAxәXFAiǂrAe@AuE<AAAEoڿAvmA<*A@9?2AN׽:AG BA@9?JAN׽RAG ٘i)I9e@Yj G J<JJJJ}F&K YLT~?y-,CA"Fb79.B)BE[[@[$V~?[Ҩ[[[[BZYY iL=) 6DEIiނ@w'= w))w1@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039508.463165 s, next control iter: 1743039508.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13007, header.stamp.nsec: 00 temperature: 13.389115* salinity: 33.391514, density: 1025.000000* values[0]: 0.689684F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039508.863165 s.J "J *J 2J +MJ~:J0?BJ0?,>7+AnJ"95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067227< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200502 time: 1743039508.863329F (some fields omitted in printout)Ag@AySg@ACV~? AjAe&"AA iNA"AZAbAjArAzAAAiOA%DrAe@A<AABA`ٿAxA <*A9?2A ׽:AYBA9?JA ׽RAYY@Myߔ<ٓH@Hڿ ??`ڿuز??`Fт?`j?)@ I٘i)I9e@Y G J<B=JJJJ~F&Kpx> YmT~?y+CAM#F)7b7R9/B)BE[[:@[EV~?[)٨[[[[BZYY i) JR Ii@E(= :)):5@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039508.903165 s, next control iter: 1743039509.263188 s, wait time: 0.360023 s rAdjusting time to match Gazebo time: 1743039509.283165 s.9RTJ~,R+AA(\g@AZQg@ADV~? A;ƩA&"AAiNA"AZAbAjArAzAAA̳A [YrA elevatorAngleAction: 0.067227< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743039510.123300F (some fields omitted in printout)AG:h@AE-h@AV~? AԩA!&"AAiZiNA"AZAbAjArAzAAAe_ALArAig@A 9@A`A5A&5׿AoA<*A 9?2A@ֽ:ABA 9?JA@ֽRA٘i)I9ig@Y G Jn<C=JJJJF&K YѲT~?y ̨DA'F{7Z7°9)B[[J@[[V~?[[[[[BZYY i) 1):Ii=@-=  )) l@y = *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039510.143165 s, next control iter: 1743039510.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039510.543165 s.IhJ~,â+AJ"J*J2J:J1?BJ1?nJ95vJA= ףph@AƄch@AV~? A0۩AJ&"AAFiNA"AZAbAjArAzAAA r A55strAg@Ai(A{nANDA&_ֿAA콬<*An9?2Auֽ:AhBAn9?JAuֽRAh٘i)I9g@Y1 G J<JJJJF&K YT~?yԨ=EA)Fb77|İ9/B)BE[[׍@[*V~?["[[[[BZYY i) :Iiˈ@/= [))[@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039510.583165 s, next control iter: 1743039510.943181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13009, header.stamp.nsec: 00 temperature: 13.388636* salinity: 33.391479, density: 1025.000000* values[0]: 0.692098F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039510.963165 s.|nJ~,+AAffffh@AtZh@AͫV~? AVA9&"AA 4iNA"AZAbAjArAzAAA35AMrAh@AEaAAA;տAvAB<*A9?2A5ֽ:AA$BA9?JA5ֽRAA$Y(@yaٓHRԿ??:?F-[Կ`Ȱ?@?(l?)(@ I I٘i)I9h@Y G J<Jw<JJJF&Kox> YT~?yoܨEA*F{7j7Gư9)B[[:e@[JU~?[[[[[BZYY i) #;Iir@/= "))"5@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039511.003165 s, next control iter: 1743039511.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039511.383165 s.uJ~,++AJ"J*J2J:JS1?BJS1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067227< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200672 time: 1743039511.383353F (some fields omitted in printout)A(h@A(>h@AV~? AA3&"AA!iNA"AZAbAjArAzAAA:QfPAXrAi@A elevatorAngleAction: 0.067227< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743039512.643275F (some fields omitted in printout)A ףp}i@A'epi@AV~? AA&"AAhNA"AZAbAjArAzAAAqԠ]AڕrA7j@A;AXA}A@hҿAA֒<*Aa9?2A׽:ABAa9?JA׽RA٘i)I9j@YG Jʒ<JJJJF&K YxT~?y"GA/F77rͰ9)ܯB[[g@[U~?['[[[[BZYY i) rv;Ii@ˡ5= ţz))ţzb@*YFFF]:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13011, header.stamp.nsec: 00 temperature: 13.388167Waiting for Gazebo time sync: latest Gz time: 1743039512.663165 s, next control iter: 1743039513.043177 s, wait time: 0.380012 s* salinity: 33.391453, density: 1025.000000* values[0]: 0.694312F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039513.063165 s.J~,_ D+AJ"J*J2J:J1?BJ1?nJ`:5vJA3333i@A'i@A$vV~? A'A&"AAhNA"AZAbAjArAzAAAG[JAKQtYhsAk@Am VA TA5A&'ѿA OA_ʓ<*A9?2Aֽ:AlBA9?JAֽRAlYFk@yS VٓH=#Ϳ'?͒?J:Ϳ@Uc?B?*j ?)Fk@ I٘i)I9k@Y G J<J <JJJF&KWx> YyrT~?yN~GA1F77{7<ϰ9)دB[[&@[U~?[[[[[BZYY iRX=) ڑ;Iib@^@6= :v)):vH@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039513.083165 s, next control iter: 1743039513.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039513.483165 s.t_J~,^+AA\i@Ai@AlV~? AA b&"AAIhNA"AZAbAjArAzAAAM){9+ATsA k@A'A(YAA@DпAy Ay<*A9?2Aֽ:A?BA9?JAֽRA?٘i)I9k@YWG J<JJJJF&K YlT~?yGA2F777Ѱ9/B)ӯBE[[d@[U~?[![[[[BZYY i) V elevatorAngleAction: 0.078293< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743039513.903298F (some fields omitted in printout)AQj@AQdj@AdV~? ARA&"AAhNA"AZAbAjArAzAAAP A?vn sAk@A"AAV톽AgA:οA 55A<*Am9?2Aֽ:AJfBAm9?JAֽRAJf٘i)I9k@YG J<JJJJF&K YeT~?yu5HA3F77Ұ91B)ѯBE[[?@[U~?[1([[[[BZYY i) L+AAGzTj@AnGj@A[V~? AA8&"AAhNA"AZAbAjArAzAAAZ ACC9XsAvl@A0AA޿A̿A[Ab<*AE9?2Aֽ:A,_BAE9?JAֽRA,_٘i)I9vl@YG J<JJJJF&K Y$_T~?y HA5F{7{7԰9)ͯB[[˒@[U~?[.[[[[BZYY i) p$ elevatorAngleAction: 0.078293< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743039515.163284F (some fields omitted in printout)Aj@AIj@ALV~? Av-A &"AAhNA"AZAbAjArAzAAA`,5 ACTsA8\m@Ar<A돋A~fٿA4ɿAPA{<*A9?2AP׽:AjBA9?JAP׽RAjY*@zٿy}<ٓH gU?&(@ܩK?[n?@R??)*@ I٘i)I9\m@YvG Ji<J vJJJF&Kx> YUT~?yX1JIAzٿ7F{7{72ذ93B)ȯBE[[@[1U~?[A<[[[[BZYY i) tCm@AC<A󁎽AXֿA:XǿAAw<*Ai9?2AO׽:A5BAi9?JAO׽RA5٘i)I9m@YG J<JJJJF&K YxQT~?y:IA9Fj7j7ٰ9)įB[[o@[jU~?[B[[[[BZYY i) R elevatorAngleAction: 0.078293< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743039516.423283F (some fields omitted in printout)A{Gak@AlJT~?yKcJA;F{7Z7ݰ9)B[[.@[U~?[bP[[[[BZYY i) q= 5S))5S)@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039516.443165 s, next control iter: 1743039516.823174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13015", header.stamp.nsec: 0"0 temperature: 13.395333"* salinity: 33.394371", density: 1025.000000"* values[0]: 0.693147"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039516.843165 s.J~,5+AAp= k@Ak@A4V~? ALA &"AA%zhNA"AZAbAjArAzAAA+x Aw,sAAo@A0V~? ATA( &"AArhNA"AZAbAjArAzAAA8c A|A1sAo@A CAHAA̿AҿA%%A`<*A}9?2Afֽ:A BA}9?JAfֽRA Y@s̿y!FCٓH* Y? ˅?@ K-?@D?Ma/?)@ I٘i)I9o@YG J <J%JJJF&Kx> YET~?y](KAs̿>F777'9)B[[@[U~?[][[[[BZYY i) 1 elevatorAngleAction: 0.078293< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743039517.683284F (some fields omitted in printout)A(\l@ATk@A,V~? A\Ap &"AAkhNA"AZAbAjArAzAAAhwgNA^Ķ6sAWp@A4$A,KAɿAE AN8A<*AZ9?2ASֽ:ABAZ9?JASֽRA٘i)I9Wp@YGG J.<JJJJF&K Y"ET~?yeKA?Fj7SI79+B)B[[ǿ[U~?[|d[[[[BZYY i) J elevatorAngleAction: 0.087819< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743039518.943295F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ףl@A̖l@A"V~? AtA&"AA|\hNA"AZAbAjArAzAAAW1!0AXrP6fEsAr@A9<A>AA$A@\cA<*A9?2A@׽:A&BA9?JA@׽RA&٘i)I9r@YMG J'<JJJJF&K YBT~?yHLACFR9)B[[[nU~?[x[[[[BZYY i) T+AAl@A0l@A V~? A|A{&"AAXhNA"AZAbAjArAzAAAnaAf-|PJsAr@Ay3<ADAMA@goA(lAq6<*A9?2A_׽:AfBA9?JA_׽RAfY*2@jy 4<ٓH k6??nY ~?@?@Z?!o??)*2@ I٘i)I9r@YG J<J%JJJF&KHx> YET~?y4MAjEF779)B[[ 쾿[U~?[/[[[[BZYY i)  elevatorAngleAction: 0.087819< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743039520.203280F (some fields omitted in printout)AQEm@AL8m@A<V~? AA&"AAMThNA"AZAbAjArAzAAAҜ$*A=)TsAs@A܊AMA@AA@vAv<*A9?2Ahuֽ:ABA9?JAhuֽRA٘i)I9s@Y\G J<JJJJF&K YDIT~?yNAGF79)B[[3[U~?[|[[[[BZYY i) <*A9?2A@ֽ:AbBA9?JA@ֽRAb٘i)I9bt@YG J<JJJJF&K YdKT~?yb|NAIFŧ7b7}9)B[[j[U~?[[[[[BZYY i)  elevatorAngleAction: 0.087819nJ< massPositionAction: 0.000000vJ4 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743039521.463281F (some fields omitted in printout)Affffm@A]m@AkV~? AMA&"AAEShNA"AZAbAjArAzAAA A1s5bsAu@AܻA첯AuA ?A`rA<*A9?2Aֽ:APyBA9?JAֽRAPyY&t@by汯`]ݻٓHy? m?`Nb -|?`Y?X?@{?)&t@ I٘i)I9u@YG J<B=JqJJJF&Kx> Y}RT~?yҴ_OAbKFŧ7b79,B)BE[[[U~?[H[[[[BZYY i) H elevatorAngleAction: 0.087819< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743039522.723299F (some fields omitted in printout)Azn@Aqzn@Ac#V~? AvA&"AAYhNA"AZAbAjArAzAAAyqg !ATqsAԮw@A˓C<ATAvnAб?A^YA<*A9?2A׽:ABA9?JA׽RA٘i)I9w@YG JH<JJJJF&K YgaT~?yΩPAOFj7Z7r9)oB[[瘭[U~?[鳩[[[[BZYY i) gBZYY i¸>l) >o?m0? *?)@ I٘i)I9y@YG J<JHJJJF&Kw> Y#nT~?yߩQA]RFj7Z79)dB[[F[U~?[[[[[ZZZZBZYY i) RJJJF&Kv> YT~?y SAgYF{79/B)FBE[[Eu[ZV~?[[[[[ZZZZBZYY i,Y) [p@AUV~? Ar A %"AAhNA"AZAbAjArAzAAAek1Y A6GxsAv6~@Aٙ;A<AA@?A`GmAM;*A9?2Arֽ:A<BA9?JArֽRA<٘i)I96~@YG J<C=JJJJF&K Y2T~?y|"BTA]F77] 91B)?B!E[[O[+V~?[[[[[ZZZZBZYY i) lB[[Õ["4V~?[[[[[BZYY i) WJJJF&K2x> YT~?y~2/TA_`F777 9)?B"E[[[[NV~?[ [[[[BZYY i) 4%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039528.623165 s, next control iter: 1743039529.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13027 , header.stamp.nsec: 0 0 temperature: 13.567275 * salinity: 33.375023 , density: 1025.000000 * values[0]: 0.581400 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039529.023165 s.J "J *J 2J :J ?BJ ?nJ 5ZJ~vJ,|A +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065728< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200652 time: 1743039529.023356F (some fields omitted in printout)AHzq@AA q@A2V~? A]2A!%"AAhNA"AZAbAjArAzAAAvd+%A6 sA%}@AzyF;A=AwA ??A_Au6_*A9?2AX8ֽ:A =BA9?JAX8ֽRA =٘i)I9}@YpG J7AJJJJF&K Y$T~?yISAdFb77R93B)EB(E[[[NXV~?[[[[[BZYY i) Gw +AJ"J*J2J:JBJnJvJAr@AzS r@A[V~? AAAf%"AA!iNA"AZAbAjArAzAAA6#Aqc sA|@AJ<Ay=A |A?A:A~*A 9?2Aֽ:A4=BA 9?JAֽRA4=Yt@|yv=(%K<ٓH?D?@$?@?@aS`,S??)t@ I٘i)I9|@YG JȏC=J=JJJF&Kw> YU~?yYRA|fF{7j795B)NB,E[[[[lV~?[[[[[BZYY i)  S;Ii@b?= ))ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039529.903165 s, next control iter: 1743039530.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039530.283165 s.3RJ~, +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065728< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743039530.283289F (some fields omitted in printout)A(\Or@A[rPBr@AV~? AaHAq%"AAiNA"AZAbAjArAzAAAh}A!|sAZ|@A;<A=AnwA?A@Ad)*A9?2AVֽ:A=BA9?JAVֽRA=٘i)I9Z|@YG JJJJJF&K Y^"U~?ys`RAhF77779)RB[[ϊ[vV~?[#[[[[BZYY i) ;Ii@>=  ))  #ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039530.303165 s, next control iter: 1743039530.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13029., header.stamp.nsec: 0.0 temperature: 13.567535.* salinity: 33.375038., density: 1025.000000.* values[0]: 0.580589.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039530.703165 s.J "J *J 2J :J ?BJ ?nJ 5ۺJ~vJ,& +AAQr@Ag;xr@AnV~? AOA\%"AAP$iNA"AZAbAjArAzAAA4AkJsA{@A 8A=ACPrA?A@A#*Ae9?2A`ֽ:A:=BAe9?JA`ֽRA:=٘i)I9{@YCG JJJJJF&K Y1U~?ygRAiF77}96B)WB/E[[\[V~?[)[[[[BZYY i) ;Ii`@== ~))~~O֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039530.743165 s, next control iter: 1743039531.103183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743039531.123165 s.4J~,P +AAGr@Aխr@AV~? AVAX%"AA6iNA"AZAbAjArAzAAA5 AƗi9sA[B{@AA=AlAT?A@A*As9?2ASֽ:A =BAs9?JASֽRA =٘i)I9B{@YG JJJJJF&K Y{AU~?y%oQAjFj7Z7H9)\B[[-[V~?[A/[[[[BZYY i) #;Ii@Oe== ,.m)),.m,.mתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039531.163165 s, next control iter: 1743039531.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039531.543165 s.IJ~, +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065728< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743039531.543280F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףr@A IJr@AfV~? A]A'%"AAdIiNA"AZAbAjArAzAAA$-AT@sAz@A&eKAϰ=AgA.e?A@WA|*A9?2A׽:A8d=BA9?JA׽RA8d=٘i)I9z@YG JJJJJF&K Y QU~?y~vTQAlFŧ7b798B)bB3E[[[gV~?[4[[[[BZYY i) Pl];Ii@== [))[[תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039531.583165 s, next control iter: 1743039531.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13030, header.stamp.nsec: 00 temperature: 13.567778* salinity: 33.375042, density: 1025.000000* values[0]: 0.579986F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039531.963165 s.tJ~,ߤ +AAffff&s@A^s@AV~? AdA`E%"AA\iNA"AZAbAjArAzAAA*IA:sA!z@APAݛ=AbA 7?A,A*ADz9?2Aֽ:A0=BADz9?JAֽRA0=Yy@byOۛ=ՌٓH1??_?VD?@v7C ?)y@ I٘i)I9!z@Y=G JȬJ;JJJF&K+x> YbU~?yO}PAbmF{7j79)fB[[ {[+V~?[:[[[[BZYY i)  \!;Ii@;= HJ))HJHJ֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039532.003165 s, next control iter: 1743039532.363176 s, wait time: 0.360011 sbU~?)O} rAdjusting time to match Gazebo time: 1743039532.383165 s.J~,' +AJ"J*J2J:JBJnJvJA(\s@APOs@A7V~? AkA6%"AAGqiNA"AZAbAjArAzAAA7_g4Ao%sAjy@AAJR=Au]A ?AAﰼ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9y@YG JJJJJF&K YtU~?yPAnF!9)lB6E[[Dw[FV~?[@[[[[BZYY i) `:Ii@o:= 8))88ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039532.403165 s, next control iter: 1743039532.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13031", header.stamp.nsec: 0"0 temperature: 13.567977"* salinity: 33.375038", density: 1025.000000"* values[0]: 0.579345"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039532.803165 s.sAJ~,jg3 +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065728< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743039532.803285F (some fields omitted in printout)As@Ags@AJV~? A]rA8%"AA>iNA"AZAbAjArAzAAAw`KmASTsA x@A;A#=AijXAM?A A(_*A9?2AJֽ:A=BA9?JAJֽRA=٘i)I9x@YG JбJJJJF&K YU~?yPApF777s#9)qB[[r[V~?[E[[[[BZYY i) $:Ii@s9= `O'))`O'`O'ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039532.843165 s, next control iter: 1743039533.203175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039533.223165 s.gJ~,HN +AJ"J*J2J:J:?BJ:?nJm5vJAzs@As@AV~? AyA%"AAiNA"AZAbAjArAzAAAhA3y3sA}cx@A'F<Ap=AJSA@?AVAذ*A9?2A;ֽ:A{=BA9?JA;ֽRA{=٘i)I9cx@Y-G JJJJJF&K YU~?yOAqF77=%9:B)wB:E[[n[}V~?[K[[[[BZYY i) ꉗIiL@ͳ8= ))ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039533.263165 s, next control iter: 1743039533.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039533.643165 s.vJ~,*i +AA ףps@A fs@A W~? AA2%"AA.iNA"AZAbAjArAzAAAA YaU~?yɞNAHtF77(9;B)B=E[[e[V~?[U[[[[BZYY i)  Ii@6=  a)) a彩 aŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039534.103165 s, next control iter: 1743039534.463176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039534.483165 s.r_J~, +AA\ht@A[t@A,W~? AA`4%"AAiNA"AZAbAjArAzAAA_TA蠙sAYv@AdzA=ATCAU?A`|A*A9?2A.ֽ:Aw<BA9?JA.ֽRAw<٘i)I9v@Y+G JMJJJJF&K YaU~?yNAuFSI787*9A?A`'0Anٔ*A9?2A0׽:Af<BA9?JA0׽RAf<٘i)I9B)BDE[[X[ W~?[We[[[[BZYY i) ZiIiË@@2= bw))bwbwXYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039535.343165 s, next control iter: 1743039535.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13034*, header.stamp.nsec: 0*0 temperature: 13.568569** salinity: 33.375057*, density: 1025.000000** values[0]: 0.577517*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039535.743165 s.WJ~,i +AJ"J*J2J:JBJnJvJAףp= u@A0t@A^W~? A8Aq%"AAl+jNA"AZAbAjArAzAAAFطÿA-t}sAGu@AFA!1=AG3Aw&?A`AU\*Aj9?2Aֽ:Ab<BAj9?JAֽRAb<٘i)I9Gu@YHG JJJJJF&K YeV~?ygMAyF7/9)B[['T[W~?[fj[[[[BZYY i) Ii1@*2= 0))00TYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743039535.763165 s, next control iter: 1743039536.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039536.163165 s.z}J~,q +AA@u@AW<2u@AVpW~? A7A@O%"AAEjNA"AZAbAjArAzAAA/ʪ?Aq&sA7t@A۲`;AtV=Ah.A`?A@A͎*A9?2Aֽ:A|f<BA9?JAֽRA|f YU$V~?y4 MA.zFj7Z719)BGE[[òO[V+W~?[Zo[[[[BZYY i) $WIi@2G0= ]Լ))]Լ]ԼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039536.183165 s, next control iter: 1743039536.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039536.583165 s.J~,S% +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074714< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743039536.583280F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\uu@A1hu@A*W~? AA0%"AA=`jNA"AZAbAjArAzAAA:cTd?Ab;tA}Wt@At[[[[BZYY i) CIil@؟.=  ))  y혽 YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039536.603165 s, next control iter: 1743039536.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13035, header.stamp.nsec: 00 temperature: 13.568725* salinity: 33.375072, density: 1025.000000* values[0]: 0.577011F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039537.003165 s.} J~,a4@ +AARu@AS{u@A`W~? AްAOi%"AA{jNA"AZAbAjArAzAAAjР?AwBtAs@A[G<A`=A]$A`?A,Aߍ*Ah9?2ARdֽ:A5=BAh9?JARdֽRA5=٘i)I9s@YmG JGJJJJF&K Y4PV~?yOȪYLA}Fb777^59@B)BME[[F[IW~?[y[[[[BZYY i) aIiQ@4-=  <)) < <¹YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039537.023165 s, next control iter: 1743039537.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039537.423165 s.uJ~,[ +AJ"J*J2J:J?BJ?nJ5vJA{Gu@A5;u@AW~? AA%"AAajNA"AZAbAjArAzAAA!R`?A++ tAis@AK;A=AA?Ah@A*A9?2A'ֽ:A=BA9?JA'ֽRA=٘i)I9is@Y%G J䌼JJJJF&K Y!fV~?yͪKA~F{7Z7(79)B[[dB[YW~?[}[[[[BZYY i) zIie@,= _<))_<_<YFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743039537.443165 s, next control iter: 1743039537.823174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13036, header.stamp.nsec: 00 temperature: 13.568870* salinity: 33.375080, density: 1025.000000* values[0]: 0.576528F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039537.843165 s.J~,u +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074714< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743039537.843291F (some fields omitted in printout)Ap= v@AXm v@AW~? AAY%"AAͳjNA"AZAbAjArAzAAAU?A tA^r@AA_=AA UF?A߿A *A9?2A6ֽ:AGd=BA9?JA6ֽRAGd=٘i)I9r@YG JmJJJJF&K Y|V~?yjӪKAF77{789BB)BRE[[k=[iW~?[[[[[BZYY i) .Ii@+= 2=))2=2=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039537.863165 s, next control iter: 1743039538.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039538.263165 s.$$J~,Vؐ +AJ"J*J2J:JBJnJvJALv@Aj0 ?v@A:W~? AwAc!%"AAjNA"AZAbAjArAzAAA!**p?A dtAr@AAiN=A3[A?A߿Ad*A69?2A*"׽:AF=BA69?JA*"׽RAF=Y8|@yL=ٓH̳? ?累?@ -?@3,f?)8|@ I٘i)I9r@YG JhB=J;JJJF&K8x> YV~?y>تGKAF:9)BUE[[[9[&zW~?[[[[[BZYY i) >Ii@N(= x=))x=x=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039538.283165 s, next control iter: 1743039538.663182 s, wait time: 0.380017 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13037., header.stamp.nsec: 0.0 temperature: 13.568998.* salinity: 33.375092., density: 1025.000000.* values[0]: 0.576035.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039538.683165 s.l*J~,^ +AA(\v@Auv@AW~? AƫAԸ%"AALjNA"AZAbAjArAzAAA}H*?AʂZtAr@A_IAД=AA`T?A`eZ޿A*A9?2A"׽:A+J=BA9?JA"׽RA+J=٘i)I9r@YSG JC=JJJJF&K YQV~?yݪJAF777<9)B[[/ 5[W~?[[[[[BZYY i) MIi@!'= `=))`=`=ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039538.683165 s, next control iter: 1743039539.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743039539.103165 s.1J~, +AJ"J*J2J:Jf?BJf?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074714< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743039539.103297F (some fields omitted in printout)AQv@AwFv@AW~? A˫AR%"AAX kNA"AZAbAjArAzAAA%+u?A'tAcq@AA=AM A@7?A)ݿA%*A9?2Aֽ:A}=BA9?JAֽRA}=٘i)I9q@Y G JJJJJF&K YV~?yJAFS>9CB)BXE[[0[W~?[[[[[BZYY i) ~]IiM@%= @=))@=@=ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039539.143165 s, next control iter: 1743039539.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039539.523165 s.7J~,{ +AAHzv@A v@A@ X~? AЫA %"AA*kNA"AZAbAjArAzAAA~!qX?AtAq@AFAB=AEA@^?A@,ܿAD*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9q@YG JJJJJF&K YV~?y.JAFj7j7@9)B[E[[k,[ڬW~?[Z[[[[BZYY i) {lIi9@ $= =))===ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039539.543165 s, next control iter: 1743039539.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13038, header.stamp.nsec: 00 temperature: 13.569110* salinity: 33.375099, density: 1025.000000* values[0]: 0.575563F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039539.943165 s.[d>J~,O] +AJ"J*J2J:JX?BJX?nJ5vJAq= #w@Aßw@AX~? AիAߍ%"AAIkNA"AZAbAjArAzAAAz]^@A%sYtAp@A=;Ar=AAJ?AbܿAE*A89?2ATֽ:A =BA89?JATֽRA =٘i)I9p@YsG J;JJJJF&K Y5V~?yIAFb77A9DB)B^E[['[_W~?[[[[[BZYY i) {Ii~@"= p>))p>p>n̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039539.983165 s, next control iter: 1743039540.343181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743039540.363165 s.EJ~,p> +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743039540.363282F (some fields omitted in printout)AYw@AcLw@A2X~? AګA:/%"AAzikNA"AZAbAjArAzAAA2!@Ab_tAp@ApH<A;j=AlA?A`[ۿA *A9?2A@ֽ:A=BA9?JA@ֽRA=Yx@yPg=MrI<ٓH@RT? ?k?dbݿ5d?C貿??)x@ I٘i)I9p@Y"G JCJf<JJJF&Kx> YD W~?ykIAFj7Z7C9)ïB[[S #[W~?[œ[[[[BZYY i) Ii{@n =  >)) > >yk4ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039540.403165 s, next control iter: 1743039540.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13039&, header.stamp.nsec: 0&0 temperature: 13.569255&* salinity: 33.375107&, density: 1025.000000&* values[0]: 0.575039&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039540.783165 s.^KJ~,2 +AJ"J*J2J:J5?BJ5?nJ\5vJA(\w@AOw@A+HX~? AE߫A)%"AAykNA"AZAbAjArAzAAA?M@AzXՕ"tAo@A)<A~F=AAkX?A`kڿA*A9?2Ahֽ:A=BA9?JAhֽRA=٘i)I9o@YG JJJJJF&K YT$W~?yIAF77~E9FB)ɯBbE[[k[W~?[Ҡ[[[[BZYY i) Iiw@S= )>)))>)>ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039540.823165 s, next control iter: 1743039541.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039541.203165 s.SJ~,M +AAQw@Aw@A]X~? AAy%"AAkNA"AZAbAjArAzAAA}@A#U%tAW o@AC;AP:=A4AȜ?A@YٿA*Aإ9?2Aֽ:AM,=BAإ9?JAֽRAM,=٘i)I9 o@Y|G J䣼JJJJF&K Yf=W~?yHAF777HG9)ίBeE[[ ["W~?[ͤ[[[[BZYY i) Ii u@N= ;>));>;>(تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039541.223165 s, next control iter: 1743039541.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039541.623165 s.XYJ~,ag +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743039541.623273F (some fields omitted in printout)J"J*J2J:JBJnJvJAGw@Adw@AsX~? A%A#%"AAkNA"AZAbAjArAzAAA^%@@AJ3(tAbn@AFA0O=AlվAB?AؿAn[*AG9?2AL׽:AQ=BAG9?JAL׽RAQ=٘i)I9n@Y'G JzJJJJF&K YuVW~?y:HAFb77I9GB)ӯBhE[[[X~?[[[[[BZYY i) GDIir@B= PM>))PM>PM>\ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039541.663165 s, next control iter: 1743039542.023179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13040, header.stamp.nsec: 00 temperature: 13.569425* salinity: 33.375122, density: 1025.000000* values[0]: 0.574466F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039542.043165 s.`J~, +AA= ף0x@AƄ#x@AljX~? A_A%"AA0kNA"AZAbAjArAzAAA佚" @Aik{*tAwm@A~>A}=AZʾA^?A!ؿAiҩ*A9?2A!׽:A`=BA9?JA!׽RA`=٘i)I9m@YG JB=JJJJF&K YoW~?yGAF7{7J9)ׯB[[ [X~?[[[[[BZYY i) SףIip@^= @ `>))@ `>@ `>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039542.063165 s, next control iter: 1743039542.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039542.463165 s.TgJ~,ߤ +AJ"J*J2J:J?BJ?nJ!5vJAfffffx@A\Yx@A4X~? AtA}%"AA lNA"AZAbAjArAzAAAz5 @AM-tAam@AA7A좦=Ac_A \?AM׿A] *A 9?2A}ֽ:A=BA 9?JA}ֽRA=YS@Sy:=yw8ٓH`?@{?g?v׿ ?@⓿%δH`b?)S@ I٘i)I9am@YyG J_C=J<JJJF&K"x> YljW~?ydGAF77L9)ܯBkE[[ [b,X~?[.[[[[BZYY i) 6Iil@u= r>))r>r>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039542.483165 s, next control iter: 1743039542.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13041, header.stamp.nsec: 00 temperature: 13.569600* salinity: 33.375122, density: 1025.000000* values[0]: 0.573889F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039542.883165 s.ymJ~,@ +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743039542.883296F (some fields omitted in printout)A(x@A(>x@AX~? AeAM/%"AA0lNA"AZAbAjArAzAAAA f[@AfTz/tAl@AMA݉=A:Ar?AayֿA*A9?2ACֽ:A=BA9?JACֽRA=٘i)I9l@YG JJJJJF&K YW~?yJFAF77sN9HB)BnE[[[?X~?[ij[[[[BZYY i) Ii*i@:= >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039542.923165 s, next control iter: 1743039543.283175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039543.303165 s.StJ~,jg +AJ"J*J2J:JBJnJvJAx@Ax@AX~? A1A%"AARlNA"AZAbAjArAzAAAn,"@AE1tAM,l@AG;A=A:3A?AϣտAՅ*A9?2A}Nֽ:A=BA9?JA}NֽRA=I٘i)I9,l@YG JB=JJJJF&K YCW~?y FAF77{7>P9)BqE[[ku[SX~?[D[[[[BZYY i) Ii f@;= 4>))4>4>hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039543.323165 s, next control iter: 1743039543.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13042., header.stamp.nsec: 0.0 temperature: 13.569766.* salinity: 33.375130., density: 1025.000000.* values[0]: 0.573267.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039543.723165 s.{J~,H +AAzy@Ax@AX~? AA%"AAulNA"AZAbAjArAzAAA+Eq3@A,v4tAȆk@A1<A=AqA?A@ԿAVȼ*A9?2A>ֽ:A=BA9?JA>ֽRA=٘i)I9k@YXG JżC=JJJJF&K YW~?y FAF{7 R9)BtE[[u[fX~?[[[[[BZYY i) QIiQc@{= A]>))A]>A]> YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039543.743165 s, next control iter: 1743039544.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039544.143165 s.W/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: -0.083751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743039544.143295F (some fields omitted in printout)A ףp=y@AJ#f0y@AiX~? A[AT%"AAlNA"AZAbAjArAzAAAb"@AB*6tA*j@A&zD<AB=AдAl:?AuӿA ͼ*Aɍ9?2A(ֽ:A=BAɍ9?JA(ֽRA=٘i)I9j@YG J1˼JJJJF&K YW~?yEAFb77S9JB)BxE[[E[zX~?[[[[[BZYY i) OȼIi`@M= q>))q>q>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039544.163165 s, next control iter: 1743039544.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039544.563165 s.J~,[ $+AA3333sy@A &(fy@A Y~? AA{%"AAlNA"AZAbAjArAzAAA[S@AW78tAB/j@A39;A3=AO A?@h??Oѿ ? F\|??)@@ I٘i)I9/j@YG JͼJL6<JJJF&Kx> Y X~?yc/EAFŧ7U9SB)B[[-w[X~?[&[[[[BZYY i) uϼIi\@U = >))>>8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039544.603165 s, next control iter: 1743039544.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13043, header.stamp.nsec: 00 temperature: 13.569961* salinity: 33.375137, density: 1025.000000* values[0]: 0.572540F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039544.983165 s.J "J *J 2J J~:J?,>+ABJ?nJ5vJA\y@A'y@A+Y~? AA@%"AAylNA"AZAbAjArAzAAA^n8@A,:tAci@A{A=AM=A`?A`.ҿAͼ*A9?2ARֽ:An=BA9?JARֽRAn=٘i)I9i@YG JͼJJJJF&K Y )X~?yDAFj7j7hW9)B{E[[O[NX~?[9Ī[[[[BZYY i) *׼IiY@D = Я>)) Я>Я>CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039545.023165 s, next control iter: 1743039545.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039545.403165 s.&J~,Y+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743039545.403272F (some fields omitted in printout)AQy@AF'Ky@ACY~? AA%"AAmNA"AZAbAjArAzAAA˃\@A ))9>9>dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039545.443165 s, next control iter: 1743039545.803175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13044", header.stamp.nsec: 0"0 temperature: 13.570178"* salinity: 33.375172", density: 1025.000000"* values[0]: 0.571812"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039545.823165 s.J~,2t+AJ"J*J2J:Jb?BJb?nJ~5vJAGzz@Anz@A4\Y~? A AY%"AA^)mNA"AZAbAjArAzAAA"(͂@A,=tA%*h@AIAEy=A}ZA?A`kdпAͼ*A9?2A1ֽ:Ac=BA9?JA1ֽRAc=٘i)I9*h@YL G J̼JJJJF&K YW_X~?yCAF77Z9TB)BE[[aϾ[X~?[ʪ[[[[BZYY i) IiR@t= UL>))UL>UL>KY)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039545.863165 s, next control iter: 1743039546.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039546.243165 s.J~,+AAףp=Jz@A5=z@AtY~? AA"%"AAANmNA"AZAbAjArAzAAAo*@AAUe|?tA}g@Ani A駳=A /FA!?AUϿA`ϼ*A9?2AKֽ:Ax\=BA9?JAKֽRAx\=٘i)I9}g@Y G J μB=JJJJF&K YzX~?yVCAF\9)BE[[Eƾ[X~?[̪[[[[ZZ¸BZYY i¸Z=) eټIiP@r1= q>))q>q>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039546.263165 s, next control iter: 1743039546.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039546.663165 s.J~,q+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743039546.663326F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13045, header.stamp.nsec: 00 temperature: 13.570390* salinity: 33.375153, density: 1025.000000* values[0]: 0.571091F (some fields omitted in printout)Az@Amrz@A?Y~? A7A0%"AAgsmNA"AZAbAjArAzAAA@AC)AtAf@A|\Aq}=A!22A@G?An<ͿAAԼ*A9?2Aս:AG=BA9?JAսRAG=Y{@72yq}=vZ]ٓHd?)?R? ƿ@F?@+?){@ I٘i)I9f@Yx G JvѼC=J;JJJF&Ku> YFX~?yvBA72Fŧ7b7^9)BE[[M[9X~?[wϪ[[[[ZZBZYY i) iͼIiK@h=  >))| > >y4TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039546.683165 s, next control iter: 1743039547.063177 s, wait time: 0.380012 sBFX~?)Bv rAdjusting time to match Gazebo time: 1743039547.083165 s.DJ~, S+AA)\µz@Anضz@AY~? AAܼ%"AAʘmNA"AZAbAjArAzAAA-W@AqBtAf@AJ<A)=A'Ah?Ao˿AV*A9?2Aս:AA)=BA9?JAսRAA)=٘i)I9f@Y G J}JJJJF&K Y X~?ybBAF7{7^`9)$BE[[[ Y~?[Ѫ[[[[ZZBZYY i) IiG@ < 5>)) 5>5>y;=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039547.123165 s, next control iter: 1743039547.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039547.503165 s.J~,D4+AJ"J*J2J:JBJnJvJARz@Azz@AY~? AA%"AAjmNA"AZAbAjArAzAAA/@AQCtAq&e@AF<AA=A A ?AДɿAO*A9?2AjԽ:A<BA9?JAjԽRA<٘i)I9&e@Yv G JJJJJF&K YX~?y AAF77)b9)+B[[9[\"Y~?[fԪ[[[[ZZBZYY i) Ii1D@!< }n>))}n>}n>y=ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039547.523165 s, next control iter: 1743039547.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13046, header.stamp.nsec: 00 temperature: 13.570622* salinity: 33.375168, density: 1025.000000* values[0]: 0.570282F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039547.923165 s.7J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743039547.923295F (some fields omitted in printout)A{G!{@AhN?{@AY~? AA`c%"AAEmNA"AZAbAjArAzAAAV]_@Ac85@EtAMd@A<AMw=A A?AǿA$*A9?2AԽ:Aw<BA9?JAԽRAw<٘i)I9Md@Y G JB=JJJJF&K YX~?y"nAAF)7b7c9)1BE[[IL[X8Y~?[֪[[[[ZZBZYY i) yIi@@< m>))m>m>@YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039547.943165 s, next control iter: 1743039548.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039548.343165 s.@l< YC>))YC>YC>{YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743039548.363165 s, next control iter: 1743039548.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13047&, header.stamp.nsec: 0&0 temperature: 13.570895&* salinity: 33.375210&, density: 1025.000000&* values[0]: 0.569372&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039548.763165 s.2J~, 0+AǍ{@A3z{@A| Z~? AA%"AA0nNA"AZAbAjArAzAAA (d@AIЖGtAeb@A7AN<AYA`?A,ĿA8ݦ*A9?2APս:AoBA9?JAPսRAoY@Q×y<ٓH?`??@Ag?v?#<`s?)@ I٘i)I9b@Y G JJ2JJJF&Ks> Y!Y~?y4$@A×F77g9) elevatorAngleAction: 0.068578< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743039549.183277F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\{@AdU{@A#Z~? AA%"AAWnNA"AZAbAjArAzAAAݒgq| @AaHtAlb@ATA#<Aν[A@?A`UT¿ARz*A9?2Axս:A=*BA9?JAxսRA=*٘i)I9lb@Y G JѕJJJJF&K Y=Y~?y$@AF77Si9)@BE[[ [8{Y~?[ܪ[[[[ZZBZYY i) Iiu5@LD< ؉?)) ؉?؉?wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039549.203165 s, next control iter: 1743039549.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039549.603165 s.44J~,f+AAQ{@AQH{@Az=Z~? AA%"AA}nNA"AZAbAjArAzAAA#!c!@A}ItAb@A&0BAY9A Aq?AJiAO%*AT9?2A@Խ:A yBAT9?JA@ԽRA y٘i)I9b@Y G JUJJJJF&K YZY~?y%@AF{7{7k9SB)CBE[[w[Y~?[ު[[[[ZZBZYY i⼠=) |Ii1@jo< "K ?))"K ?"K ?н(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039549.623165 s, next control iter: 1743039550.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13048 , header.stamp.nsec: 0 0 temperature: 13.571084 * salinity: 33.375237 , density: 1025.000000 * values[0]: 0.568742 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039550.023165 s.ZJ~, |+AJ"J*J2J:JBJnJvJAHz.|@At !|@A"WZ~? A[ A %"AAnNA"AZAbAjArAzAAA!@AܾNJtAa@A쾛AA1eA1?A /A̷*A9?2AٓԽ:A4=BA9?JAٓԽRA4=٘i)I9a@Yu G J7JJJJF&K YHvY~?y*&b@AFŧ7b7l9)DBE[[kc[Y~?[_[[[[ZZBZYY i) $hIiN.@K< ?))??yI=)YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039550.063165 s, next control iter: 1743039550.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039550.443165 s.0J~, ]+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.078485< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743039550.443279F (some fields omitted in printout)Aq= c|@AeÚV|@ApZ~? A!AI%"AAunNA"AZAbAjArAzAAAjo O"@A9KtAga@Aq;AX%A;A B?AxAs*A9?2AFս:A@üBA9?JAFսRA@ü٘i)I9a@Yd G J@JJJJF&K YY~?y&>@AF{7{7n9)EBE[[#P[)Y~?[[[[[BZYY i) GxSIiS+@K< ?))??y=(*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743039550.463165 s, next control iter: 1743039550.843173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13049, header.stamp.nsec: 00 temperature: 13.571080* salinity: 33.375225, density: 1025.000000* values[0]: 0.568517F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039550.863165 s.+J~,>+AJ"J*J2J:JBJnJvJA|@A򑔌|@AZ~? A"A%"AAnNA"AZAbAjArAzAAAF"@AWScKtAIa@Ab8<AG,A?<A`HR?AݶAQ;*A9?2Aս:A߼BA9?JAսRA߼Yf@ YͮY~?y&x@A<F77~p9)[[;=[4Y~?[[[[[[BZYY iGh=) BIi&@D< ̤?))Zv̤?̤?!g*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039550.883165 s, next control iter: 1743039551.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039551.283165 s.6RJ~,+AA(\|@AP|@AZ~? Ai#A1x%"AAoNA"AZAbAjArAzAAAi\o#@AnAG,LtAa@A˂A<AdTA)A=A^?AA ;*A9?2A1ս:ABA9?JA1սRA٘i)I9a@Ys G J.u;C=JJJJF&K YY~?yZ&@AFb7b7Ir9)DBE[[*[}Y~?[[[[[BZYY i=) a1IiM"@a< n?))5n?n?**YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743039551.303165 s, next control iter: 1743039551.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13050., header.stamp.nsec: 0.0 temperature: 13.570944.* salinity: 33.375259., density: 1025.000000.* values[0]: 0.568610.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039551.703165 s.պJ~, +AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260177> elevatorAngleAction: 0.065908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743039551.703280F (some fields omitted in printout)AQ}@AC|@A|Z~? A$Ah%"AA@oNA"AZAbAjArAzAAA %$@ALJLtAb@A;AluAQ=A@k?A`hA,<*A'9?2Aӽ:A>?BA'9?JAӽRA>?٘i)I9b@Y G J<B=JJJJF&K Y[Y~?y&@AF77t9)BBE[[2[ Z~?[[[[[BZYY i)  Iia@< 0C#?)) 0C#?0C#?y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039551.723165 s, next control iter: 1743039552.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039552.123165 s.3J~,L+AAG:}@AϤM-}@AuZ~? A$A\%"AADhoNA"AZAbAjArAzAAA 6i($@AILtA-cb@AKA A=As?A@^礿ADe<*A9?2Aӽ:Aj BA9?JAӽRAj ٘i)I9cb@Y G JGG<C=JJJJF&K YZ~?y%%AAF7u9RB)?BE[[[[Z~?[[[[[BZYY i) .Ii@n:< (?))(?(?*Y%RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039552.143165 s, next control iter: 1743039552.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039552.543165 s.IJ~,"+AJ"J*J2J:JBJnJvJA= ףp}@AU#c}@AvZ~? A%AS%"AAoNA"AZAbAjArAzAAA`%@AE0%MtAb@A /A䏽Aa=AUy?A*Ajj<*A9?2AԽ:ArBA9?JAԽRAr٘i)I9b@Y G J |<B=JJJJ F&K YZ~?y%_AAF7w9) elevatorAngleAction: 0.065908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199372 time: 1743039552.963275F (some fields omitted in printout)Affff}@A'_}@A| [~? A:%AM%"AAoNA"AZAbAjArAzAAA徟%@A(GMtAfHc@AykPAHHA5>A |?A@ۋAY3<*A9?2AԽ:A9BA9?JAԽRA9Y @*>y)EnPٓH ?@a@@T?@7?l?TIJ? A K?) @ I٘i)I9Hc@YS G JΒ<C=JJJJ F&KVs> Y;Z~?y$AA*>Fb77ty9)7BE[[չ[uMZ~?[z[[[[BZYY i) ߻Ii@<  1?))kt 1? 1?P*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039552.983165 s, next control iter: 1743039553.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039553.383165 s.J~,A}?A f?AB<*A9?2At1ս:A1BA9?JAt1սRA1٘i)I9c@Y G J<JJJJ F&K YWZ~?yq#)BAF{7j7>{9QB)3BE[[[beZ~?[[[[[BZYY i) H7Ii@ n< 6?))j16?6? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039553.403165 s, next control iter: 1743039553.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13052&, header.stamp.nsec: 0&0 temperature: 13.570356&* salinity: 33.375275&, density: 1025.000000&* values[0]: 0.569648&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039553.803165 s.sAJ~,jgs+AA~@A崧~@A@[~? A+%AqK%"AApNA"AZAbAjArAzAAAX:'@Apw>MtA\d@AS@:AtA_[*>A~?A Ԓ?An<*A:?2Aӽ:AZBA:?JAӽRAZ٘i)I9\d@Y G JH<B=JJJJF&K YsZ~?yU"BAFZ787 }9).BE[[ uW[}Z~?[[[[[BZYY i) آIi @J< ;?)) ;?;? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039553.823165 s, next control iter: 1743039554.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039554.223165 s.g#J~,H+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743039554.223289F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG~@A<:~@AZ[~? A$AO%"AAq-pNA"AZAbAjArAzAAAfN.1'@A_ MtA)d@A<A,A?>A {?AӠ?AȬ<*A:?2A@GԽ:A@ BA:?JA@GԽRA@ ٘i)I9d@YT G J<C=JJJJF&K YZ~?y:!BAF7777~9))B[[~[Z~?[[[[[BZYY i) Ii@+< @?))@?@?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039554.243165 s, next control iter: 1743039554.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039554.643165 s.v)J~,*+AA ףp}~@Aͩdp~@At[~? At$AU%"AATpNA"AZAbAjArAzAAA}fu(@AJ䙭LtABe@AQ<AȝAS>At?AL>?Aʮ<*A :?2AԽ:AuBA :?JAԽRAu٘i)I9e@Y G J<JJJJF&K YZ~?y WCAFŧ779PB)$BE[[Od[bZ~?[[[[[BZYY i) PLIi@< ~E?))~E?~E?*YYFFF]}:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13053, header.stamp.nsec: 00 temperature: 13.569959* salinity: 33.375298, density: 1025.000000* values[0]: 0.570402F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743039554.663165 s, next control iter: 1743039555.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039555.063165 s.0J~,N +AJ"J*J2J:JBJnJvJA3333~@AF(~@A[~? A#A_%"AAH|pNA"AZAbAjArAzAAAJYp)@AnTqLtA9f@AHV<A AD0h>A`?l?A n?A<*A :?2Aս:ABA :?JAսRAY@g;mg>y2 <ٓH`7?`/̿>?-??:?ʃ??)@g; I٘i)I9f@Y G J<JJJJF&Kps> Y|Z~?y%CAmg>F77i9)BE[[q;[Z~?[[[[[BZYY i) DRIi?~N< fJ?))rfJ?fJ? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039555.103165 s, next control iter: 1743039555.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039555.483165 s.y_7J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237170> elevatorAngleAction: 0.065908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743039555.483310F (some fields omitted in printout)A\~@AZA~@A[~? A#Al%"AApNA"AZAbAjArAzAAA2~ )@Ai.WKtAf@AV:A֓AV|>A%a?Ax?Ax<*A :?2A5ս:AnBA :?JA5սRAn٘i)I9f@Yb G J<JJJJF&K YZ~?y,*DAF49OB)BE[[><[ Z~?[[[[[BZYY i) +Ii?< YO?))|YO?YO?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039555.503165 s, next control iter: 1743039555.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13054, header.stamp.nsec: 00 temperature: 13.569554* salinity: 33.375313, density: 1025.000000* values[0]: 0.571208F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039555.903165 s.=J~,+AJ"J*J2J:JBJnJvJAQ@Au@Af[~? A-"A#}%"AApNA"AZAbAjArAzAAAAU?A u?Ac[<*Ac/:?2A!ӽ:A^BAc/:?JA!ӽRA^٘i)I9Bg@Y G J<JJJJF&K YZ~?y3DAF77j79)BE[[Tk4=[Z~?[[[[[BZYY i) 6¹Iir?S< VT?)) VT?VT?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039555.923165 s, next control iter: 1743039556.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039556.323165 s.qDJ~,+AAGzT@AWoG@A;[~? A!A%"AApNA"AZAbAjArAzAAAQ*@A$>JtAg@ATKAҖAս>A@G?AC?AS<*AC8:?2Aӽ:A\BAC8:?JAӽRA\٘i)I9g@Y G J<JJJJF&K Y[~?y:DAFb7b7ɇ9NB)BùE[[je=[l[~?[L[[[[BZYY i) }:Ii?"< \Y?))\Y?\Y?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039556.363165 s, next control iter: 1743039556.723174 s, wait time: 0.360009 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13055*, header.stamp.nsec: 0*0 temperature: 13.569151** salinity: 33.375332*, density: 1025.000000** values[0]: 0.572012*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039556.743165 s.WKJ~,m/+AJ"J*J2J:Jo?BJo?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743039556.743282F (some fields omitted in printout)Aףp=@A]P2}@A[~? AA%"AA8qNA"AZAbAjArAzAAA+@A3uYJtAqh@A=1AޓAP>A@5?Ao?A<*Aw9:?2Aӽ:A6BAw9:?JAӽRA6٘i)I9qh@Yx G J<JJJJF&K Y5[~?yAgEAF7779) BƹE[[Zڪ=[S)[~?[[[[[BZYY i) 3:Ii?t< &k^?))&k^?&k^?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039556.763165 s, next control iter: 1743039557.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039557.163165 s.w}RJ~,qJ+AA@AM@A\~? AvAz%"AA6@qNA"AZAbAjArAzAAA mB",@A94d&ItAi@A-AhA搽A>A`o!?An0?A<*A9:?2AԽ:A>mBA9:?JAԽRA>mY =>y搽NhٓH/>?tԿ`ok?6R?N?!ms?) = I٘i)I9i@Y G J<J&g<JJJF&Kr> YKP[~?ypEA>F77{7^9MB)BɹE[[=[A[~?[[[[[BZYY i) J;Ii?!< kc?)),rkc?kc?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039557.183165 s, next control iter: 1743039557.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039557.583165 s.XJ~,Se+AJ"J*J2J:JBJnJvJA)\@A, @AC)\~? AA%"AAgqNA"AZAbAjArAzAAATj,@Ag.x3HtAi@AA;A7AO>AM ?A@?A9<*A8:?2Aɂս:ABA8:?JAɂսRA٘i)I9i@Y$G JQ<JJJJF&K Yk[~?y)FAF777)9)B[[6=[Z[~?[#[[[[BZYY i) 1/Z;Ii?2U< vh?))?4vh?vh?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039557.603165 s, next control iter: 1743039557.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13056, header.stamp.nsec: 00 temperature: 13.568721* salinity: 33.375336, density: 1025.000000* values[0]: 0.572781F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039558.003165 s.w `J~,H4+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.256258> elevatorAngleAction: 0.065908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743039558.003275F (some fields omitted in printout)AR+@Ad:tz@AB\~? A0A%"AAȍqNA"AZAbAjArAzAAA_GW-@A(&GtA$j@AKB<AA>A6?As?A-<*A[:?2Aӽ:AӒBA[:?JAӽRAӒ٘i)I9j@YtG J<JJJJF&K YЅ[~?y FAFŧ779JB)B˹E[[>[s[~?[[[[[BZYY i) c;Iij?"z< Fm?)) Fm?Fm?z*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743039558.043165 s, next control iter: 1743039558.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039558.423165 s.ufJ~,+AJ"J*J2J:J?BJ?nJ5vJA{Ga@AdyW=T@A \\~? ANA %"AAWqNA"AZAbAjArAzAAAPI-@AKFtA'j@AC<Ar/AǍ>A@?A?AIt<*A#c:?2A>ӽ:ABA#c:?JA>ӽRA󼙘٘i)I9j@YG J2<JJJJF&K Y[~?y FAF7{79IB)BιE[[ p&>[[~?[[[[[BZYY i`%=) d;Ii?p< ޫr?))ޫr?ޫr?F*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039558.463165 s, next control iter: 1743039558.823181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13057, header.stamp.nsec: 00 temperature: 13.568385* salinity: 33.375359, density: 1025.000000* values[0]: 0.573482F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039558.843165 s.lJ~,+AAp= @AYO@Abu\~? AFA F%"AAqNA"AZAbAjArAzAAA.@AٿDtA k@AP;AAy>A@?A[[~?[[[[[BZYY i) !;Ii}?Nh< Bw?))Bw?Bw?]*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039558.883165 s, next control iter: 1743039559.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039559.263165 s.tJ~,'+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074778< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743039559.263280F (some fields omitted in printout)J"J*J2J:JBJnJvJÀ@Aƿ@A\~? AAo%"AArNA"AZAbAjArAzAAA9LQ#/@AMRmCtAk@AbhA釽Av>A?AU?Aa,<*A|[:?2AVԽ:A(BA|[:?JAVԽRA(YR>>y釽[hٓH?o_ڿ宯 T?`(?@ ?? m`?)R> II٘i)I9k@YYG J<J*+<JJJF&KAr> Y[~?yGA>F77T9HB)BԹE[[wO>[Y[~?[ [[[[BZYY i) ^&;Ii?[< |?))\r|?|?1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039559.283165 s, next control iter: 1743039559.663179 s, wait time: 0.380014 s6tReceived state from Gazebo (printed only once in a while):62 header.stamp.sec: 130586, header.stamp.nsec: 060 temperature: 13.5679996* salinity: 33.3753666, density: 1025.0000006* values[0]: 0.5741956F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039559.683165 s.lzJ~,g+AA(\@A@A|\~? AA%"AA&rNA"AZAbAjArAzAAA;ʺ/@A)XGBtAl@A:3AAh>Aw?A?A;E<*AT:?2AɼԽ:ABAT:?JAɼԽRA٘i)I9l@YG J<JJJJ!F&K Y[~?yHAFb779)B[[} d>[+[~?[][[[[BZYY i) {A eS?A?A <*Ao:?2Aӽ:ABAo:?JAӽRA٘i)I9~l@YG JΒ<JJJJ"F&K Y\~?yG_HAF777闱9GB)B׹E[[x>[[~?[ު[[[[BZYY i) 2 elevatorAngleAction: 0.074778< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743039560.523277F (some fields omitted in printout)AHzn@Aa@A\~? A A+%"AA,rrNA"AZAbAjArAzAAASps0@AD>tAl@A^.A~AD>AJ-?A?A]E<*Ap:?2Adӽ:AxBAp:?JAdӽRAx٘i)I9l@Y:G J<JJJJ#F&K YL"\~?yHAFŧ7b79FB)߯BڹE[[ۆ>[ \~?[ܪ[[[[BZYY i) M"?))>?>?-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039560.563165 s, next control iter: 1743039560.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13059, header.stamp.nsec: 00 temperature: 13.567656* salinity: 33.375366, density: 1025.000000* values[0]: 0.574851F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039560.943165 s.XdJ~,B]<+AJ"J*J2J:JBJnJvJAq= ף@AEЖ@Ay\~? A A31%"AAqrNA"AZAbAjArAzAAAy7ҳ0@At&=tA5qm@A:A?A-?A ?A ?A<*ASj:?2ASԽ:AxBASj:?JASԽRAx٘i)I9qm@YG J<B=JJJJ%F&K Y<\~?yIAF7779)گBݹE[[a>["\~?[Qڪ[[[[BZYY i) S2W+AAف@Á@A ]~? AA-i%"AAprNA"AZAbAjArAzAAAg g1@AY;tAm@A1i<A挽A|?A?A?A<*A;c:?2A%ս:AlBA;c:?JA%սRAlY[r>Q?y䌽#<ٓHA?. l?`?ޥ ??`??)[r> I٘i)I9m@YG J<C=JҽJJJ&F&K6s> YyT\~?ytIAQ?Fj7j7I9EB)֯BE[[Ǜ>[:\~?[ת[[[[BZYY i) FA elevatorAngleAction: 0.074778< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743039561.783288F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A6[WS\~?[ժ[[[[BZYY i) <.Q[l\~?[Ҫ[[[[BZYY i=) `[\~?[Ϫ[[[[BZYY i) p elevatorAngleAction: 0.083776< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743039563.043308F (some fields omitted in printout)A= ף@A&o@Ah]~? AAf%"AAfMsNA"AZAbAjArAzAAA= '2@A[L93tA!o@Aj A1Aȇ?A?A?AIӟ<*A:k:?2Aӽ:AgBA:k:?JAӽRAg٘i)I9o@YG J<JJJJ+F&K YC\~?yߪJAF77t9@B)BE[[wF>[[\~?[̪[[[[BZYY i) v< ?))??*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039563.063165 s, next control iter: 1743039563.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039563.463165 s.XJ~,+AJ"J*J2J:J?BJ?nJ5vJAffff@AR( _ق@A6]~? AA%"AApsNA"AZAbAjArAzAAA7ťvn2@A/x%0tA/bp@ANAA?A@ ?A`?AsƤ<*AJ`:?2AtԽ:ABAJ`:?JAtԽRAY >?yaOٓH@?ĮAc?@?E? ى ?) > I٘i)I9bp@YMG J<B=J:eJJJ-F&K&s> Y-\~?yڪUKA?Fb77?9)B[[#>[\~?[ɪ[[[[BZYY i) I[\~?[fƪ[[[[BZYY i) a֎ elevatorAngleAction: 0.083776< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743039564.303271F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AˠD@A]~? AA.B%"AAsNA"AZAbAjArAzAAA*2@ABQ7,tAu{q@AfIAMA*?A;f?A`?At~<*Abi:?2A`ӽ:ABAbi:?JA`ӽRA٘i)I9{q@YG J<JJJJ/F&K Y\~?yЪ"LAF7777ԩ9>B)BE[[i>[\~?[ª[[[[BZYY i) c[\~?[#[[[[BZYY i) 4[]~?[:[[[[BZYY i) ~9; ?))??*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039565.163165 s, next control iter: 1743039565.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039565.563165 s.J~, d+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083776< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743039565.563298F (some fields omitted in printout)A3333@AdM*@A]~? AOA6%"AA=tNA"AZAbAjArAzAAA/Q.3@Agm$tA/s@AUN=<A"A9?A?A@U?A7<*AO:?2Aս:ABAO:?JAսRAYl?}9?y=<ٓH?@;@<$??#?? ?)l? I٘i)I9/s@YG J<JJJJ3F&K\t> Y=]~?ycaMA9?F{7j7498B)BE[[o?[M-]~?[4[[[[BZYY i) Tج; M?))wM?M?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039565.583165 s, next control iter: 1743039565.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13064, header.stamp.nsec: 00 temperature: 13.565839* salinity: 33.375435, density: 1025.000000* values[0]: 0.578374F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039565.983165 s.J~,~+AJ"J*J2J:J?BJ?nJA5vJA\(@A@A=^~? AݫA%"AAH=tNA"AZAbAjArAzAAA4@AR!tAs@AG;A A>?A c?A@#?A.<*A/F:?2A>ս:AoBA/F:?JA>սRAo٘i)I9s@Y`G JY<JJJJ5F&K Y S]~?yMAFb7797B)BE[[ ?[D]~?[[[[[BZYY i) 11t[; = ?)) = ?= ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039566.003165 s, next control iter: 1743039566.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039566.403165 s.&J~,͙+AAQ^@Ad#Q@A^~? A ٫A?%"AA]tNA"AZAbAjArAzAAA/ E4@A7ctAmt@A׈AZA}C?A`?A`r?A<*AX:?2Aiӽ:AaBAX:?JAiӽRAa٘i)I9mt@YG Ja<JJJJ6F&K Y/h]~?yBNAFŧ7ŧ7ʲ9)B[[?[[]~?[[[[[BZYY i) Ҋn4; ʫ?))ʫ?ʫ?$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039566.443165 s, next control iter: 1743039566.803177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13065", header.stamp.nsec: 0"0 temperature: 13.565443"* salinity: 33.375465", density: 1025.000000"* values[0]: 0.579163"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039566.823165 s.J~,)+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083776< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743039566.823298F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A4Op@A0^~? AVԫA^C%"AA~tNA"AZAbAjArAzAAA^L4@A`tAu@A6AHmAإH?A?Au:?Ac<*AQ:?2A'Խ:AiBAQ:?JA'ԽRAi٘i)I9u@Y+G J<JJJJ8F&K YO}]~?y䮪NAF7793B)BE[[A?[ s]~?[[[[[BZYY i) M ; ?))?? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039566.863165 s, next control iter: 1743039567.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039567.243165 s.J~,u+AAףp=ʄ@A~31@A[E^~? AkϫA%"AAtNA"AZAbAjArAzAAAM(4@AwtAu@AIA}ŰA M?A`?A`#?A@ <*AI:?2AԽ:ABAI:?JAԽRA٘i)I9u@YG J$<JJJJ9F&K Yo]~?y$OAF7_92B)BE[[?[]~?[5[[[[BZYY i) =: \?))\?\?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039567.283165 s, next control iter: 1743039567.643175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039567.663165 s.J~,q+AJ"J*J2J:J~?BJ~?nJ5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13066, header.stamp.nsec: 00 temperature: 13.565003* salinity: 33.375488, density: 1025.000000* values[0]: 0.580051F (some fields omitted in printout)A@A~@AY^~? AaʫA%"AAtNA"AZAbAjArAzAAAB; 5@A"tAvv@AAAS?AC?A?Ad<*AA:?2A9rս:AfBAA:?JA9rսRAfY)?AS?yiٓH? `l??# /?,| ?))? I٘i)I9vv@YG J<B=J06JJJ:F&Ku> Y]~?yOAAS?F7*9)~B[[1?[Y]~?[R[[[[BZYY i) u elevatorAngleAction: 0.083776< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743039568.083313F (some fields omitted in printout)A)\5@A仔(@Am^~? A6ūAf%"AAtNA"AZAbAjArAzAAAc2>5@AHhtA'w@A:AoA]X?A@?An?A<*A9:?2A1ֽ:A#BA9:?JA1ֽRA#٘i)I9'w@YmG J<C=JJJJ<F&K Y]~?y#PAF)7b791B)wBE[[/$?[]~?[>[[[[BZYY i) ߭<*A!J:?2A-ս:A)BA!J:?JA-սRA)٘i)I9w@YG J<JJJJ=F&K Y]~?yPAFb779)rB[[e*?[]~?[[[[[ZZZZ¸>BZYY i¸>X) F&K Y]~?y7QAF79,B)hBE[[0?[d]~?[[[[[ZZZZBZYY i) #09ٓH@.?`\ ?;?`?@;??)4? I٘i)I9&z@Y?G J=B=J,=JJJAF&Ku> Y^~?yQAm?F{79)ZB[[Mj;?[ ^~?[[[[[ZZZZBZYY i) $?))[>?[>?t.)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039571.483165 s, next control iter: 1743039571.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13070, header.stamp.nsec: 00 temperature: 13.563232* salinity: 33.375534, density: 1025.000000* values[0]: 0.583847F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039571.863165 s.+=J~,>+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083972< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743039571.863303F (some fields omitted in printout)A@A 1 @A:_~? A]AO%"AAuNA"AZAbAjArAzAAAժ>D17@AGgsA8}@Aߓ;A <Aa?A?A1?A <*AUN:?2Asս:AT<BAUN:?JAsսRATJJJHF&Kt> YU^~?y^dSAc?Fj7j7ʱ9!B)7B E[[H@X?[9q^~?[e[[[[ZZZZBZYY i |) e^bG J;JJJJIF&K YJd^~?yxVYSAF˱9)5B[[^?[^~?[^[[[[BZYY iX) OG JJJJJLF&K Y^~?y]GASAF77uϱ9)1B[[i?[^~?[P[[[[BZYY i) H(*JJJNF&Kv> Yd^~?y7RAZ?F77 ӱ9)3B[[гu?[O^~?[B[[[[BZYY ibj) DAc=A]?A`I4?A?Aa*AB":?2A}ֽ:A =BAB":?JA}ֽRA =٘i)I9|@YG JGC=JJJJPF&K Y^~?y/RAFŧ7b7Ա9B)2BE[[{?[^~?[:[[[[BZYY i) ;IH?id; 3B?))3B?3B?ҾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039574.423165 s, next control iter: 1743039574.783179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13073", header.stamp.nsec: 0"0 temperature: 13.562906"* salinity: 33.375538", density: 1025.000000"* values[0]: 0.584184"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039574.803165 s.AlJ~,g+AA둈@Ar䄈@A{_~? A)cA%"AAyvNA"AZAbAjArAzAAAp8@AsAI|@AAc=A ?A ne?A)?A!*A+!:?2A&ֽ:Ak=BA+!:?JA&ֽRAk=٘i)I9I|@YG J{JJJJQF&K Y^~?y'6RAFb77ֱ9B)4BE[[̀?[^~?[2[[[[BZYY i) _;IH?iFwt *?))*?*?˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039574.823165 s, next control iter: 1743039575.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039575.223165 s.gsJ~,H+AJ"J*J2J:J?BJ?nJ5vJAzLj@APp@A_~? A3\A V%"AAXvNA"AZAbAjArAzAAA(N8@A_sA&{@A7O;A=A&?A?A[?A*AQ#:?2Akwֽ:A=BAQ#:?JAkwֽRA=I٘i)I9{@Y@G JJJJJRF&K Y^~?yQAF7777jر9)8B[[΃?[y^~?[*[[[[BZYY i) Q;IH?i1P> ?))??yjӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039575.243165 s, next control iter: 1743039575.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039575.643165 s.zyJ~,*+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743039575.643296F (some fields omitted in printout)A ףp@AqQe@A֕_~? A(UA%"AA3vNA"AZAbAjArAzAAAќC8@AiDsAp={@AE+<AO=A?A`?Af?A*A&:?2A`ֽ:Ax=BA&:?JA`ֽRAx=٘i)I9={@YG JJJJJTF&K Y^~?yQAF75ڱ9)?))>?>?tReceived state from Gazebo (printed only once in a while):yj2 header.stamp.sec: 13074, header.stamp.nsec: 00 temperature: 13.563060* salinity: 33.375568, density: 1025.000000* values[0]: 0.583729F (some fields omitted in printout)\תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039575.683165 s, next control iter: 1743039576.043180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039576.063165 s.J~,c +AJ"J*J2J:JBJnJvJA33333@A '&@A:_~? A NAh%"AA\vNA"AZAbAjArAzAAA$8@Af?HsA^z@A?I<A=AJ?A@?A )?Aq*A}&:?2Aֽ:A=BA}&:?JAֽRA=YS]?i?y==I<ٓH `W?%g ??u?j?G@'?V?)S]? I٘i)I9z@YG JJ=JJJUF&Kx> YI^~?y#QAi?Fb77۱9B)=BE[[щ?[_~?[[[[[BZYY i) _e;IϓH?ie ?))??ycתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039576.103165 s, next control iter: 1743039576.463181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743039576.483165 s.x_J~,+AA\h@A[@A&_~? AFA%"AAvNA"AZAbAjArAzAAAl 9@AЧ~چsA*z@A=j;AN=A?Ar?A`Q ?A晴*A&:?2Aֽ:A| =BA&:?JAֽRA| =٘i)I9z@Y1G J)JJJJVF&K Y^~?ykPAF{7{7ݱ9)AB[[Ռ?[&_~?[[[[[BZYY i) b);IІH?iqֶ ?))??+תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039576.503165 s, next control iter: 1743039576.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13075, header.stamp.nsec: 00 temperature: 13.563271* salinity: 33.375534, density: 1025.000000* values[0]: 0.583094F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039576.903165 s.ȍJ~,9+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743039576.903287F (some fields omitted in printout)AQ@Ae1@A_~? A?A%"AAvNA"AZAbAjArAzAAA) ٦,9@AR{sAaxy@AAF=AB?A 0?A??A*A&:?2AV4׽:A#t=BA&:?JAV4׽RA#t=^~?)k٘i)I9xy@YG JJJJJXF&K Y,^~?yPPAF7777߱9)FB[[gޏ?[3_~?[J [[[[BZYY i) $:IFyH?i{r(! ?))??GժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039576.923165 s, next control iter: 1743039577.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039577.323165 s.vJ~,%T+AAGzԉ@A.olj@A_~? A98A%"AAvNA"AZAbAjArAzAAAYM9@AW횼sAx@AA,!=AeX?ATO?A@s?A*A&:?2Ax׽:A=BA&:?JAx׽RA=٘i)I9x@Y|G J\JJJJYF&K Y^~?yOAF{7j7_9B)IBE[[?[@_~?[[[[[BZYY i) E:IOkH?i쁿M& ?))??ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039577.343165 s, next control iter: 1743039577.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13076*, header.stamp.nsec: 0*0 temperature: 13.563479** salinity: 33.375561*, density: 1025.000000** values[0]: 0.582428*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039577.743165 s.WJ~,~o+AJ"J*J2J:JBJnJvJAףp= @Am3@A_~? A0A%"AAvNA"AZAbAjArAzAAA$R1m9@A_dsAXUx@ATLA8=A?A@l?A?A\W*A&:?2A׽:A=BA&:?JA׽RA=٘i)I9Ux@Y$G J"JJJJZF&K Y^~?y}OAFŧ7b7*9B)KBE[[?[L_~?["[[[[BZYY i) d)I]H?i턿F%* ?))???ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039577.763165 s, next control iter: 1743039578.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039578.163165 s.}J~,q+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743039578.163305F (some fields omitted in printout)A@@A2@A_~? AU)A1%"AAS wNA"AZAbAjArAzAAAb}7؋9@A'YsAw@AA==A?A ?A`?A *A6&:?2AV׽:A; =BA6&:?JAV׽RA; =Yo?b{?yU<=yٓH5?Kh€?@4? M4??Q?)o? I٘i)I9w@YG JJJJJ\F&Kx> Y_~?yOA{?Fb79)OB[[?[ X_~?[u[[[[BZYY i) ώI NH?iC$B2 ?))??ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039578.203165 s, next control iter: 1743039578.563176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039578.583165 s.J~,S+AJ"J*J2J:JBJnJvJA)\u@ADԷh@Az_~? A!Am%"AAwNA"AZAbAjArAzAAA;9@AhssAm:w@AZTAz)=A?A`Ӧ?A?AN*A%:?2A\ ׽:A}=BA%:?JA\ ׽RA}=٘i)I9:w@YxG J(JJJJ]F&K Yk _~?ymݩNAF77j79)TB[[??[b_~?[[[[[BZYY i) 5I>H?iG9 Z?))Z?Z?ʪYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743039578.603165 s, next control iter: 1743039578.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13077, header.stamp.nsec: 00 temperature: 13.563696* salinity: 33.375587, density: 1025.000000* values[0]: 0.581797F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039579.003165 s.z J~,U4+AAR@A4y@Ax_~? A3A#X%"AA%'wNA"AZAbAjArAzAAAW9@AGsAv@A";A =Aꢯ?A?A)?A "*AT%:?2Aֽ:A=BAT%:?JAֽRA=٘i)I9v@Y"G JIJJJJ^F&K Y_~?yԩQNAF7779 B)WBE[[*?[l_~?[ީ[[[[BZYY i) qAI}.H?i㔿> |@))|@|@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039579.043165 s, next control iter: 1743039579.403181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743039579.423165 s.uJ~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743039579.423289F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@AwH1@Ԋ@A_~? AA%"AAo4wNA"AZAbAjArAzAAA-19@AOsA v@AH<AS=A4?A?AAQ?Azץ*A$:?2Acֽ:A=BA$:?JAcֽRA=٘i)I9 v@YG J9B=JJJJ`F&K Y_~?yP̩MAF77{7U9 B)XBE[[@C?[dv_~?[թ[[[[BZYY i) }IH?i(B df@))df@df@vĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039579.443165 s, next control iter: 1743039579.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13078, header.stamp.nsec: 00 temperature: 13.563897* salinity: 33.375591", density: 1025.000000"* values[0]: 0.581155"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039579.843165 s.ݼJ~,+AAp= @A_B @A_~? A A͂%"AA@wNA"AZAbAjArAzAAẠG9@AsAu@A,<A34=Aմ?A@?Av?A%*A8$:?2Aֽ:A1=BA8$:?JAֽRA1=٘i)I9u@YyG JΣC=JJJJaF&K Yw_~?yéMAF{7 9)]B[[]?[/_~?[|̩[[[[BZYY i) VI H?idME @))@@6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039579.863165 s, next control iter: 1743039580.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039580.263165 s.J~,+AJ"J*J2J:J?BJ?nJ5vJAL@A `?@Ar`~? AA%"AALwNA"AZAbAjArAzAAAo :@A?-sAu@AT;A=A˂?A/ ?A H?Ap*A[#:?2A.׽:A <BA[#:?JA.׽RA YR!_~?y ,MA?F779)aB[[Zt?[:_~?[Pé[[[[BZYY iR) XITG?i󟿉L l@))l@l@8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039580.303165 s, next control iter: 1743039580.663175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13079., header.stamp.nsec: 0.0 temperature: 13.564128.* salinity: 33.375587., density: 1025.000000.* values[0]: 0.580533.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039580.683165 s.lJ~,o++AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076818< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743039580.683294F (some fields omitted in printout)A(\@AHu@Aj `~? ALAp%"AAWwNA"AZAbAjArAzAAASa0!:@AajsAt@A廻A?=A2?A`-?A@Z?A- *A;":?2Aq׽:A.<BA;":?JAq׽RA.<٘i)I9t@YG JJJJEFJdF&K Y-%_~?yPLA F779)eB[[ď?[_~?[[[[[BZYY i) \ۻIG?iz7R @))@@»YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039580.683165 s, next control iter: 1743039581.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743039581.103165 s.J "J *J 2J :J ?BJ ?nJ 5vJ J~,F+AAQ@AׇF@A`~? AuAJ%"AAawNA"AZAbAjArAzAAAf<5:@AvsA0t@AA?A)=Aۼ?A@L?A {?Am5*AR:?2A}׽:AW<BAR:?JA}׽RAW<٘i)I9t@YG J JJJJeF&K Y)_~?yrLA F{7{79B)fBE[[쮮?[E_~?[[[[[BZYY i) ^IG?iaV v@))v@v@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039581.123165 s, next control iter: 1743039581.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039581.523165 s.J~,{a+AAHz@Aǽ @A`~? AA%"AASkwNA"AZAbAjArAzAAA-e#8G:@A~k}ҍsAfs@A<A6%=A1w?Al?A?A=*Aw:?2AOp׽:A<BAw:?JAOp׽RA<٘i)I9s@YMG JB=JJJJgF&K Y,_~?yܠLA Fŧ7b7J9)jB[[ѱ?[;_~?[-[[[[BZYY i) ] IBG?ii Z  @)) @ @y&@hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039581.543165 s, next control iter: 1743039581.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13080, header.stamp.nsec: 00 temperature: 13.564312* salinity: 33.375603, density: 1025.000000* values[0]: 0.579989F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039581.943165 s.[dJ~,O]|+AJ"J*J2J:Jz?BJz?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076818< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743039581.943304F (some fields omitted in printout)Aq= #@A@A6`~? AA}%"AAswNA"AZAbAjArAzAAA?W:@A_xsA7s@AfA=A?A ގ?A ?Ai*Af:?2AH)׽:A=BAf:?JAH)׽RA=٘i)I97s@YG JȈC=JJJJhF&K Y0_~?y#KA F7779B)lBE[[a?[t_~?[[[[[BZYY i) 3IʳG?iͫ[ ; @)); @; @xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039581.983165 s, next control iter: 1743039582.343180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039582.363165 s.J~,>+AAY@AaKL@A!`~? A۪A%"AA{wNA"AZAbAjArAzAAAF0~xf:@A4kE$sA}r@Aww;A=An?Aa?A#?Ab*A :?2Aֽ:A=BA :?JAֽRA=Y??y=y x;ٓHH?`/Cy?@? ? g?@rn??)? I٘i)I9r@YG JJ:JJJiF&Kfx> Y1_~?yU[KA?Fŧ7b79B)mBE[[?[_~?[ [[[[BZYY i) c+IϠG?ia  @)) @ @7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039582.403165 s, next control iter: 1743039582.763180 s, wait time: 0.360015 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13081", header.stamp.nsec: 0"0 temperature: 13.564508"* salinity: 33.375591", density: 1025.000000"* values[0]: 0.579466"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039582.783165 s.J "J YJ~*J2J,+A:JW?BJW?nJ5vJA(\@A̰Q@A}%`~? AӪA%"AAނwNA"AZAbAjArAzAAA0s:@ALߝLFsAGr@A1<A܍=AE?A?Aa7?Ar*A:?2Aֽ:A=BA:?JAֽRA=٘i)I9Gr@YtG JӑJJJJkF&K Y2_~?yJAF77{79)qB[[?9?[_~?[[[[[BZYY i) ;IqG?i*f _@))_@_@.êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039582.803165 s, next control iter: 1743039583.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039583.203165 s.J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076818< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743039583.203295F (some fields omitted in printout)AQŌ@Au(%@AY)`~? A˪AO&"AA&wNA"AZAbAjArAzAAA|2tp:@AofdzsAq@A`H<A=A9?Aܹ?AH?A`嗼*A9?2Aeֽ:A =BA9?JAeֽRA =٘i)I9q@Y(G JB=JJJJlF&K Y3_~?y}JAFŧ7b7v9)uB[[a?[_~?[؀[[[[BZYY i) [JI yG?i ƶ [i c%@)) c%@ c%@ ƪYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743039583.263165 s, next control iter: 1743039583.603175 s, wait time: 0.340010 s rAdjusting time to match Gazebo time: 1743039583.623165 s.XJ~,a+AJ"J*J2J:J2?BJ2?nJe5vJAG@A@A,`~? AêA9&"AAwNA"AZAbAjArAzAAAʩ#C:@A usAHq@A;A#=A?Y?A x ?A"X?Aݘ*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9Hq@YG JC=JQ>JJJmF&K> Y4_~?ytBJAF777@9)yB[[?[֭_~?['w[[[[BZYY i) 5 ZIeG?iR k b@))b@b@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039583.643165 s, next control iter: 1743039584.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13082 , header.stamp.nsec: 0 0 temperature: 13.564715 * salinity: 33.375599 , density: 1025.000000 * values[0]: 0.578896 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039584.043165 s.J~,+AA= ף0@AT#@A{/`~? AA&"AAOwNA"AZAbAjArAzAAAՖ:@AJepsAVp@ApϺA:=AM ?A1?Ad?A}*A99?2A=׽:A={ =BA99?JA=׽RA={ =٘i)I9p@YG JݘJQ>JJJoF&K> Y5_~?y lIAFj7Z7 9B){BE[[ٳ?[I_~?[km[[[[BZYY i) ߁iIRG?iиl A@))A@A@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039584.083165 s, next control iter: 1743039584.443176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039584.463165 s.VJ~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076818< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743039584.463287F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@A-\Y@A1`~? AA'&&"AA.wNA"AZAbAjArAzAAA!t:@A:ksAGp@AAu=AT?A@?A@-o?Ab*A9?2Aq׽:A =BA9?JAq׽RA =Y?d?ys=CٓH@O? ^O@Q?&ʲ z`?)? I٘i)I9Gp@Y=G JJ M<JJJpF&Kx> Y3_~?yWcIA?Fŧ779)B[[?[_~?[c[[[[BZYY i) YxI=G?ilq @))@@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039584.503165 s, next control iter: 1743039584.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13083, header.stamp.nsec: 00 temperature: 13.564916* salinity: 33.375595, density: 1025.000000* values[0]: 0.578312F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039584.883165 s.y J~,D8+AA(@AI@A{3`~? AA&"AA=wNA"AZAbAjArAzAAAU&:@A]s`fsA o@ARjKA8=A\?A?Av?Axi*A9?2Am׽:A| =BA9?JAm׽RA| =٘i)I9o@YG JJJJJqF&K  9Y1_~? 9yZIAFb7b79)B[[??[߯_~?[Y[[[[BZYY i) 샼I>)G?i[t X@))X@X@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039584.923165 s, next control iter: 1743039585.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039585.303165 s.XJ~,gS+AJ"J*J2J:JBJnJvJAэ@Aˠč@A4`~? A}A+a&"AAwNA"AZAbAjArAzAAA%Xɡ:@A_ jasA@o@AAH=AU?AA?A@{?A!*A9?2A0׽:A] =BA9?JA0׽RA] =٘i)I9@o@YG JJJJJsF&K Y0_~?yQHAF77j9)B[[3?[_~?[/P[[[[BZYY i) ܃IyG?i Jw @))@@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039585.343165 s, next control iter: 1743039585.703178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13084., header.stamp.nsec: 0.0 temperature: 13.565158.* salinity: 33.375599., density: 1025.000000.* values[0]: 0.577703.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039585.723165 s.J~,Hn+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743039585.723283F (some fields omitted in printout)Az@A(G@A[5`~? AhA&"AAwNA"AZAbAjArAzAAAԣ:@Aη\sA۵n@A`AҜ=At?A ?A H~?Ajc*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9n@YHG JKJJJJtF&K Y ._~?yHPHAF77{759)BE[[a?[Z_~?[iF[[[[BZYY i) IF?iw x@))x@x@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039585.743165 s, next control iter: 1743039586.123181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039586.143165 s.O/"J~,)+AJ"J*J2J:JBJnJvJA ףp=@A f0@A5`~? ASA&"AAwNA"AZAbAjArAzAAAYUG:@Aw3WsA%n@A0<A=A?A`mA~?A*A9?2Aˌֽ:A;+=BA9?JAˌֽRA;+=٘i)I9%n@YG JGJJJJuF&K Y<,_~?y4@GAF779)B[[?[_~?[<[[[[BZYY i) `IF?i5EOw  @)) @ @6ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039586.183165 s, next control iter: 1743039586.543173 s, wait time: 0.360008 s rAdjusting time to match Gazebo time: 1743039586.563165 s.(J~,A +AA3333s@AҊo(f@A!5`~? A>A:&"AA|wNA"AZAbAjArAzAAAku#:@AuSsA2m@AJ<A=A.?AђA{?A\*A9?2Avֽ:A=BA9?JAvֽRA=Yٞ?%?y=K<ٓH@pſHNr? aſ`W? O^??)ٞ? I٘i)I9m@YG J篼JG<JJJwF&K@x> Y~'_~?y7GA?F{7{79)B[[?[_~?[2[[[[BZYY i)  !IF?iĿ&z U@))U@U@y㯽?ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039586.603165 s, next control iter: 1743039586.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13085, header.stamp.nsec: 00 temperature: 13.565426* salinity: 33.375595, density: 1025.000000* values[0]: 0.577041F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039586.983165 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: -0.085931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743039586.983327F (some fields omitted in printout)A\@Aꛎ@A:4`~? A+AJ&"AAwNA"AZAbAjArAzAAA#G#f:@A] NsAdl@Aů'<AB=A,?AjA}v?A*A9?2AӠֽ:AdC=BA9?JAӠֽRAdC=٘i)I9l@Y;G JJJJJxF&K Y"_~?y.GAFb77 9B)BE[[o?[_~?[5)[[[[BZYY i) jIF?iſ@} (@))(@(@hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039587.023165 s, next control iter: 1743039587.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039587.403165 s.&6J~,+AAQގ@A qю@A2`~? A{Au&"AAЛwNA"AZAbAjArAzAAAI) :@AJ*IsA-cl@AV2;Ak=A?A`èAn?Aё*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9cl@YG J>JJJJyF&K Y_~?y.&FAF088` 9)B[[?[_~?[[[[[BZYY i) I.F?iƿ-~ @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039587.443165 s, next control iter: 1743039587.803178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13086", header.stamp.nsec: 0"0 temperature: 13.565713"* salinity: 33.375599", density: 1025.000000"* values[0]: 0.576328"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039587.823165 s.Ad?A~*Aa9?2A<>׽:AH=BAa9?JA<>׽RAH=٘i)I9k@YG JJJJJ{F&K YE_~?y;FAF{7{7+9)B[[>J?[q_~?[[[[[BZYY i) vIߕF?i;ƿм} L!@))L!@L!@CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039587.863165 s, next control iter: 1743039588.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039588.243165 s.CJ~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743039588.243282F (some fields omitted in printout)Aףp=J@AN1=@AR.`~? AkA&"AAwNA"AZAbAjArAzAAA$f{:@AW?sA0k@AAA=AY;?A5A"X?AO*A~9?2AW׽:A=BA~9?JAW׽RA=٘i)I90k@Y#G JJJJJ|F&K Y_~?yEA!Fŧ7b79)B[[ty?[$_~?[> [[[[BZYY i) 迼IF?iĿ`{ "@))"@"@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039588.263165 s, next control iter: 1743039588.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039588.663165 s.JJ~,q*+AJ"J*J2J:JZ?BJZ?nJ5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13087, header.stamp.nsec: 00 temperature: 13.565973* salinity: 33.375587, density: 1025.000000* values[0]: 0.575597F (some fields omitted in printout)A@AUjr@AI+`~? AbAXM&"AAwNA"AZAbAjArAzAAAqmH:@Aq:sA|j@A7A˭=A?A㷿AH?A&*A9?2AI/׽:A =BA9?JAI/׽RA =Y8??yȭ=~T8ٓH ѿ"'R?+ѿ "? r6?)8? I٘i)I9j@YG JB=Jt<JJJ}F&KDx> Y _~?yY ZEA?"F779B)BE[[j?[_~?[[[[[BZYY i) !/ǼIVkF?iƿY~ p$@))p$@p$@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039588.683165 s, next control iter: 1743039589.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039589.083165 s.DQJ~, SE+AA)\µ@A.@A'`~? AZA&"AAȌwNA"AZAbAjArAzAAAx\z:@Azw5sA3i@AA_=A=]?A@mA`{7?AƼ*Aس9?2Aֽ:A=BAس9?JAֽRA=٘i)I9i@Y`G Jn¼C=JJJJF&K Yp_~?yDA#Fŧ779)B[[?[@_~?[0[[[[BZYY i) atμIUF?iǿ'g  &@)) &@ &@WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039589.103165 s, next control iter: 1743039589.483182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743039589.503165 s.WJ~,D4`+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199382 time: 1743039589.503303F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@Azޏ@A#`~? ASAɅ &"AA wNA"AZAbAjArAzAAA컖#n:@ASF0sADi@A;Aʒ=Ai?A^A@#?A@wϼ*A09?2A)vֽ:An=BA09?JA)vֽRAn=٘i)I9Di@Y G JʼJJJJF&K Y^~?yfqDA%Fb7U9)B[[!?[{_~?[[[[[BZYY i)  ռIv@F?iJǿ/ '@))'@'@`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039589.523165 s, next control iter: 1743039589.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13088, header.stamp.nsec: 00 temperature: 13.566292* salinity: 33.375587, density: 1025.000000* values[0]: 0.574829F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039589.923165 s.C^J~,{+AA{G!@A?=@A`~? AKAD! &"AAwNA"AZAbAjArAzAAA5e8`:@AT|w+sAΓh@AB:5<AD=Af?A"A ?A[ּ*A9?2Aq@ֽ:AQ=BA9?JAq@ֽRAQ=٘i)I9h@Y G JҼJJJJF&K YY^~?yCA&Fb7 9)B[[7?[Sr_~?[a[[[[BZYY i) eݼI++F?iſpi} L))@))L))@L))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039589.963165 s, next control iter: 1743039590.323182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743039590.343165 s. elevatorAngleAction: 0.082960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743039590.763291F (some fields omitted in printout)Ǎ@A:m@AV`~? AC;ApV &"AAqwNA"AZAbAjArAzAAA˒9?:@AnF3"sAE&g@A;AK=AT?A`GſA ?Aڼ*A9?2A#ֽ:A,=BA9?JA#ֽRA,=Y?޽?yJ=;ٓH=3׿`ͺ ?A׿ѵ?]{?c?)? I٘i)I9&g@Y G JڼJ!<JJJF&K.x> Y^~?yB CA?)F77j79)ɯB[[P?[z]_~?[Ө[[[[ZZBZYY i) 'żIF?iĿ{ [N,@))[N,@[N,@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039590.783165 s, next control iter: 1743039591.163175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039591.183165 s.rJ~,g+AJ"J*J2J:JBJnJvJA(\@A@A2`~? Al3A &"AA9hwNA"AZAbAjArAzAAAʱ}-:@A10ԪisA\f@AA,Ʈ=Ad_?A#ǿAϹ?A *A9?2Aֽ:ABa<BA9?JAֽRABa<I٘i)I9\f@Y3 G JJJJJF&K YH^~?yڨBA*Fb779)ϯB[[?[Q_~?[ʨ[[[[ZZBZYY i) IE?ibĿk_{ f-@))f-@f-@LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039591.203165 s, next control iter: 1743039591.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039591.603165 s.84yJ~,+AAQ@A{G@A`~? A+A &"AA^wNA"AZAbAjArAzAAA&p:@Az+sA-e@A$Ad=A ?A ȿA?Ar*A9?2A ׽:A곴<BA9?JA ׽RA곴<٘i)I9e@Y G J!JJJJF&K Y^~?yѨBA+Fŧ77K9)֯B[[}?[E_~?[[[[[ZZBZYY i) H㬼IE?i-ÿ y s/@))s/@s/@yCC=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039591.643165 s, next control iter: 1743039592.003177 s, wait time: 0.360012 s ^~?) Ѩ tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13090 , header.stamp.nsec: 0 0 temperature: 13.387565 * salinity: 33.391628 , density: 1025.000000 * values[0]: 0.692074 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039592.023165 s.J "J *J 2J :J +1?ZJ~BJ+1?nJ95,{+AvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743039592.023292F (some fields omitted in printout)AHz.@A_ !@A_`~? A#A &"AATwNA"AZAbAjArAzAAA̫A':@A—sAd@A/SAv=AZV@A@ʿA@w?AA*A9?2A~ֽ:AX]<BA9?JA~ֽRAX]<٘i)I9d@Y/ G JJJJJF&K Y^~?yɨAA-F 9B)ޯBE[[@[8_~?[渨[[[[ZZBZYY i) &ԠI,E?iv ~1@))~1@~1@[YFFF]Waiting for Gazebo time sync: latest Gz time: 1743039592.043165 s, next control iter: 1743039592.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039592.443165 s.3ÆJ~,-]+AAq= c@ANV@A_~? A)A &"AAHwNA"AZAbAjArAzAAA9@AGB7sAc@A՞Ai2=A@A̿A FT?A μ*A"9?2Aֽ:A;BA"9?JAֽRA;٘i)I9c@Y G J JJJJF&K Y}^~?y$AA.FSI787!9)B[["@[/+_~?["[[[[ZZBZYY i) fƔI̭E?ir Y2@))Y2@Y2@zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039592.463165 s, next control iter: 1743039592.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13091, header.stamp.nsec: 00 temperature: 13.387947* salinity: 33.391651, density: 1025.000000* values[0]: 0.690382F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039592.863165 s.+J~,>7+AJ"J*J2J:JBJnJvJA@A F@A_~? AAM&"AA Y^~?y@A@/F777#9B)BE[[@[_~?[m[[[[ZZBZYY i߉=) nIiE?iJr b-4@))b-4@b-4@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039592.883165 s, next control iter: 1743039593.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039593.283165 s.6RJ~,R+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069599< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743039593.283291F (some fields omitted in printout)A(\ϑ@AZQ‘@A_~? A A&"AA)0wNA"AZAbAjArAzAAAQ9@AzsA1b@AE;AK!<A3@A&пA]?A3*AP9?2Aֽ:Aio BAP9?JAֽRAio ٘i)I9b@Y G J_JJJJF&K Y^~?yͱ@A1Fŧ7b7v%9)B[[P@[ _~?[֞[[[[ZZBZYY i) LI%E?i{Aq 5@))5@5@:vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039593.303165 s, next control iter: 1743039593.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13092., header.stamp.nsec: 0.0 temperature: 13.388245.* salinity: 33.391666., density: 1025.000000.* values[0]: 0.689069.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039593.703165 s.ݺJ~,.m+AJ"J*J2J:Jf0?BJf0?nJ85vJAQ@Ay7@A_~? AYAv&"AA"wNA"AZAbAjArAzAAAldߜ9@A]1JsAjb@Af=<A2A@A ѿAc?A8*A9?2Asֽ:AiBA9?JAsֽRAi٘i)I9jb@Y G J~jJJJJF&K Y^~?y@A2F{7{7@'9)BE[[@[^~?[b[[[[ZZBZYY i=) ~kIqE?iTn YT7@))YT7@YT7@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039593.743165 s, next control iter: 1743039594.103182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743039594.123165 s.7J~,]+AAG:@At-@A_~? AA &"AAawNA"AZAbAjArAzAAA Ճ9@A[rAG,b@A<AA@A2ѿA@?AȻ*A9?2Aֽ:AM}BA9?JAֽRAM}٘i)I9,b@Y G JJJJJF&K Y^~?y@A3F777 )9B)BE[[h{@[^~?[[[[[ZZBZYY i) pVIj]E?i{cj _8@))_8@_8@yj=`)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039594.143165 s, next control iter: 1743039594.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039594.543165 s.IJ~,â+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.079550< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743039594.543338F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@A}ԛc@A_~? AlA&"AA^wNA"AZAbAjArAzAAAQ`9@A%.rA/b@AC;Af An@AҿA ?AJͳ*As9?2A;ֽ:A!*ɼBAs9?JA;ֽRA!*ɼ٘i)I9b@Y G JɅJJJJF&K Yz^~?y@m@A5F77{7*9)B[[u @[^~?[[[[[BZYY i) D"BI1JE?iزd |:@))|:@|:@y8=/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039594.563165 s, next control iter: 1743039594.943181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13093, header.stamp.nsec: 00 temperature: 13.388414* salinity: 33.391678, density: 1025.000000* values[0]: 0.688345F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039594.963165 s.yJ~,+AAffff@A.\@A#_~? AA,&"AAvNA"AZAbAjArAzAAAngb@9@AarAb@AzٻA1A,^ @A`HӿA@O?A1V;*A9?2A@ֽ:ABA9?JA@ֽRAY?b @y1ٻٓH hu?Y? j@x1? 8{@?)? I٘i)I9b@Y G J.:J*JJJF&Kv> Yjk^~?yڒ@Ab @6F7)7,9 B)BE[[ @[S^~?[}[[[[BZYY ij=) M1I7E?iݱxc  <@)) <@ <@mn*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039595.003165 s, next control iter: 1743039595.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039595.383165 s.صJ~,'+AJ"J*J2J:J.0?BJ.0?nJ85vJA(ܒ@A(ϒ@A_~? AAP&"AA(vNA"AZAbAjArAzAAA 9@A;:rA 8b@A6DA=YA @ACԿA?AF;*Ao9?2Ajֽ:A:9BAo9?JAjֽRA:9٘i)I98b@Y G Jt;JJJJF&K Y\^~?yu@A7FZ7SI7k.9)E[[5 @[)^~?[v[[[[BZYY iu=) Nz I*$E?iԯa =@))=@=@W*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039595.403165 s, next control iter: 1743039595.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13094", header.stamp.nsec: 0"0 temperature: 13.388435"* salinity: 33.391682", density: 1025.000000"* values[0]: 0.688241"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039595.803165 s.wAJ~,{g+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066631< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743039595.803287F (some fields omitted in printout)A@A2@Ai_~? AA1I&"AAvNA"AZAbAjArAzAAAbz8@ABrAxb@A7A?xA_ @AaտA`??A_=<*A9?2A/7ֽ:A BA9?JA/7ֽRA ٘i)I9xb@Y G J<JJJJF&K YL^~?yAA9F77j7609 B)BE[[@[o^~?[Qn[[[[BZYY i) [IE?ii] h/?@))h/?@h/?@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039595.823165 s, next control iter: 1743039596.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039596.223165 s.gJ~,H+AJ"J*J2J:JBJnJvJAzG@A8+:@AW_~? Aa٩A&"AAvNA"AZAbAjArAzAAA7,8@A trAb@AϘAEAgG @A`;ֿA ?A(Og<*Ay9?2Aֽ:A BAy9?JAֽRA ٘i)I9b@Y G J R<JJJJF&K Y4=^~?y|[AA:F7729)B[[X@[0^~?[f[[[[BZYY i) wIwD?inW @@))@@@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039596.243165 s, next control iter: 1743039596.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039596.643165 s.vJ~,*)+AA ףp}@AqQep@A̐_~? AOҩA`&"AApvNA"AZAbAjArAzAAAYذ8@AV"rA9c@AN;AA@A ׿A`~o?AX<*Aɦ9?2Aֽ:A: BAɦ9?JAֽRA: ٘i)I99c@YJ G Jw<JJJJF&K Y-^~?yDuAA;Fb7ŧ739 B)BE[[@[v^~?[n_[[[[BZYY i) QۻID?ii+Q iQB@))iQB@iQB@yО=:*YtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13095, header.stamp.nsec: 00 temperature: 13.388372* salinity: 33.391693, density: 1025.000000* values[0]: 0.688631F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743039596.663165 s, next control iter: 1743039597.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039597.063165 s.J "J *J 2J :J J0?BJ J0?nJ 85vJ J~,[ D+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066631< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743039597.063279F (some fields omitted in printout)A3333@An,(@Aʃ_~? AQ˩A&"AAvNA"AZAbAjArAzAAAgsg8@AJYrA­c@A~1<AAx@A׿A`1?A <*A~9?2A^׽:A BA~9?JA^׽RA Y5@Y@y@1<ٓH@m8`?Y?5@驿 %߲? /?:?)5@ I٘i)I9c@Y G J<JQJJJF&K?x> Y^~?yhnAA@=Fj7{759B)BE[[v@[k^~?[6X[[[[BZYY i) zID?iN C@))C@C@i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039597.103165 s, next control iter: 1743039597.463180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039597.483165 s.y_J~,^+AA\@Aǜgۓ@ARv_~? AiĩAq&"AAvNA"AZAbAjArAzAAA|}`8@A5 rAw-d@AD?<A̛AC@A sؿA`$?AO<*A9?2A<ֽ:Ai BA9?JA<ֽRAi ٘i)I9-d@Y G J<B=JJJJF&K Yb ^~?ygbBA>Fb77a79B)BE[[,@[AV^~?[+Q[[[[BZYY i) YIuD?iOK lE@))lE@lE@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039597.523165 s, next control iter: 1743039597.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13096, header.stamp.nsec: 00 temperature: 13.388207* salinity: 33.391697, density: 1025.000000* values[0]: 0.689380F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039597.903165 s.J~,y+AJ"J*J2J:JBJnJvJAQ@AF'K@Ahh_~? AA&"AAYsvNA"AZAbAjArAzAAA=` a68@A]=}rA`d@A.;ABA@AӈٿA?AiI<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9d@Y3 G J@<C=JJJJF&K Y]~?y`BA?F777+99)B[[ؑ@[@^~?[QJ[[[[BZYY i)  IպD?iF F@))F@F@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039597.923165 s, next control iter: 1743039598.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039598.323165 s.uJ~,!+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066631< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743039598.323274F (some fields omitted in printout)AGzT@A%vmoG@A Z_~? A۶AE|&"AA]vNA"AZAbAjArAzAAA * 8@A1fHarA}Je@A,fAJ A@ARڿA4n?A %<*Al9?2Aieֽ:AuQBAl9?JAieֽRAuQ٘i)I9Je@Y G J$<JJJJF&K Y]~?yY-CAAF:9B)E[[@[<+^~?[C[[[[BZYY i) 2EID?iI? H@))H@H@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039598.363165 s, next control iter: 1743039598.723175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13097*, header.stamp.nsec: 0*0 temperature: 13.388026** salinity: 33.391693*, density: 1025.000000** values[0]: 0.690309*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039598.743165 s.WJ~,m+AJ"J*J2J:JBJnJvJAףp=@AV 1}@ABK_~? A7A&"AAGvNA"AZAbAjArAzAAA7@ACJbSrAe@A A퟽A@AۿA})?A{<*AQ9?2A3ֽ:AK.BAQ9?JA3ֽRAK.٘i)I9e@Y G J<JJJJF&K YG]~?yRCABFb77<9)B[[@[%^~?[5=[[[[BZYY i) pIDD?i7  H)) HJ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039598.783165 s, next control iter: 1743039599.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039599.163165 s.z}J~,q+AA@A*9'@A <_~? AA&"AA01vNA"AZAbAjArAzAAAt4ۯ7@A|oTrAmf@A3FA]AZ@A;ۿA ?AT<*Ad9?2AI=ֽ:Av BAd9?JAI=ֽRAv Yc@ j@yc FٓHlRk? ?`xD@ͳ?Hƈ ?)c@ I٘i)I9f@YJ G JȻ<JJJJF&Kw> Yn]~?yLCAj@DF>9B)BE[[/@[q]~?[6[[[[BZYY i) ID?i 4 F))FK@-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039599.203165 s, next control iter: 1743039599.563179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039599.583165 s.J~,R+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J8 propOmegaAction: 25.1328122J< rudderAngleAction: -0.261799:J> elevatorAngleAction: 0.066631BJ< massPositionAction: 0.000000nJ4 buoyancyAction: 0.000500vJ dt: 0.4200052 time: 1743039599.583285F (some fields omitted in printout)A)\@ACV@Ad,_~? A7A&"AAvNA"AZAbAjArAzAAACj7@As|drAg@ArA"sA@AܿA ?Ar <*Al9?2AJ}ֽ:A BAl9?JAJ}ֽRA ٘i)I9g@Y G JU<JJJJF&K Y]~?ytFgDAEFj7j7V@9B)߯BE[[@[Y]~?[0[[[[BZYY i) IX}D?iY=/ D))D(M@J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039599.623165 s, next control iter: 1743039599.983177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13098, header.stamp.nsec: 00 temperature: 13.387810* salinity: 33.391720, density: 1025.000000* values[0]: 0.691370F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039600.003165 s.w J~,H4+AAR+@AU1~@AR_~? AޜA{&"AAvNA"AZAbAjArAzAAA+O7@AoT6rAA@A%fݿAM?A<*A89?2Aֽ:ABA89?JAֽRA٘i)I9g@Y G J<B=JJJJF&K Y]~?y1@DAFFb77!B9)گB[[?@[]~?[*[[[[BZYY i)  T*:IoD?iV) mC))mCN@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039600.023165 s, next control iter: 1743039600.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039600.423165 s.uJ~,+AJ"J*J2J:JBJnJvJA{Ga@AAT@A _~? AA&"AA+uNA"AZAbAjArAzAAA^\7@A_rA'Mh@A <A?AZ]@A@%޿A?A?<*A9?2A׽:ABA9?JA׽RA٘i)I9Mh@Yb G J<C=JJJJF&K Y]~?y9 elevatorAngleAction: 0.066631< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743039600.843305F (some fields omitted in printout)Ap= @Af6@A^~? AzAo&"AAuNA"AZAbAjArAzAAA}w6@A-rAh@AH7H<A”A:@A ޿A@0?AJ<*A9?2A_׽:A$~BA9?JA_׽RA$~٘i)I9h@Y G J٩<JJJJF&K Yr]~?y3EAIFb77E9)ӯB[[F!@[]~?[[[[[BZYY i) 7";ITD?iBpi Y]@))Y]@\Q@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039600.883165 s, next control iter: 1743039601.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039601.263165 s.J~, P+AJ"J*J2J:JBJnJvJA̕@AC¿@A^~? ArA&"AAuNA"AZAbAjArAzAAAbu<6@AWErAgi@A<<AsA_@Ar߿A`]?Ap<*Af9?2A&ֽ:ABAf9?JA&ֽRAY@%@yr+<ٓH4 %WX?eN?`U{BJ?s??)@ I٘i)I9gi@Y G J<J}g<JJJF&KPx> YG\]~?y. FA@JF{7{7G9B)ѯBE[["@[]~?[E[[[[BZYY i) \N_;IGD?iliVd Z>))Z>[HS@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039601.303165 s, next control iter: 1743039601.663174 s, wait time: 0.360009 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 131002, header.stamp.nsec: 020 temperature: 13.3873612* salinity: 33.3917242, density: 1025.0000002* values[0]: 0.6933932F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039601.683165 s.lJ~,Zk+AA(\@A2]@A^~? AA[&"AAuNA"AZAbAjArAzAAA:_6@AVrAi@A:AAA=@Ab%A` ?A0<*A9?2Aqֽ:ABA9?JAqֽRA٘i)I9i@YaG J<JJJJF&K Y~F]~?yx(kFALFj7KI9B)ίB޹E[[N$@[n]~?[[[[[BZYY i) _6;I;D?i` Q=))Q=/T@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039601.683165 s, next control iter: 1743039602.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743039602.103165 s.!J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066631< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743039602.103282F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8@AAF+@A^~? A~Ao&"AAouNA"AZAbAjArAzAAA 1ؒI6@A (ޘrAyj@A@ܻA$Am@A |Az?A<*A9?2Alֽ:AKBA9?JAlֽRAK٘i)I9yj@YG J^<JJJJF&K Y0]~?y"FAMFS77K9)ʯB[[%@[U]~?[.[[[[BZYY i) Ĭ;Ij0D?iUs W;))W;^SV@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743039602.143165 s, next control iter: 1743039602.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039602.523165 s.'J~,{+AAHzn@A a@Al^~? AyA>&"AAduNA"AZAbAjArAzAAA=J֣6@Ap&wrA3k@AAA苽As @AlAa?AuѠ<*A9?2AYֽ:ABA9?JAYֽRA٘i)I9k@YG J,<JJJJF&K Y]~?yD0GANF7{7L9 B)ȯB۹E[[N'@[/<]~?[t [[[[BZYY iњ=) T;I%D?iH 1H:))1H:W@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039602.543165 s, next control iter: 1743039602.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13101, header.stamp.nsec: 00 temperature: 13.387157* salinity: 33.391727, density: 1025.000000* values[0]: 0.694317F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039602.943165 s.Vd.J~,:]+AJ"J*J2J:JBJnJvJAq= ף@A:˖@A^~? ApsA&"AAHuNA"AZAbAjArAzAAA h5@AL;:rAk@A .A7ˉA"@A'AS ?A<*A9?2Ap}ֽ:AyBA9?JAp}ֽRAy٘i)I9k@YYG Jڞ<JJJJF&K Y]~?yGAPF7N9!B)ůBعE[[M(@["]~?[[[[[BZYY i) ;ID?i9e 8))8*ZY@Ż*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039602.963165 s, next control iter: 1743039603.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039603.363165 s.5J~,}>+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075595< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743039603.363277F (some fields omitted in printout)Aٖ@Anl̖@Al^~? AmA&"AA+uNA"AZAbAjArAzAAArjo5@ArAAl@AEO~A[Am#@A(zA<]?A<*A19?2Aֽ:A*_BA19?JAֽRA*_Yl@(r#@y[~ٓH2e>?Q?>?o?)l@ I٘i)I9l@YG J<B=J@<JJJF&K$x> Y\~?yGAr#@QF77j7vP9#B)ïBչE[[I*@[]~?[[[[[BZYY i)  elevatorAngleAction: 0.075595< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743039604.623285F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A{m@AQ^~? AY^A,N&"AABtNA"AZAbAjArAzAAAu4@A4Y[rAfm@AA<<AASg'@AhAb'?AD<*A9?2A׽:AlBA9?JA׽RAl٘i)I9fm@Y|G Js<JJJJF&K Y\~?y IAUFS77U9'B)BιE[[.@[\~?[[[[[BZYY i) %3\IAVFb7b7W9)B)B˹E[[,0@[=\~?[S[[[[BZYY i) B Yv\~?y!IA)@XF77kY9)B[[1@[I\~?[[[[[BZYY i) !R elevatorAngleAction: 0.075595< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743039605.883288F (some fields omitted in printout)A(@AU@A-^~? AOAl&"AA-ttNA"AZAbAjArAzAAAa:+4@A'nrAn@Az'AA6+@A`@An?AH<*A¿9?2AAQֽ:A BA¿9?JAAQֽRA ٘i)I9n@YZG Jf<JJJJF&K Y]\~?yJAYF{7j76[9*B)BȹE[[,3@[@i\~?[[[[[BZYY i) ra elevatorAngleAction: 0.084526< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743039607.143274F (some fields omitted in printout)A ףp@Ag@A]~? ABA4t&"AAtNA"AZAbAjArAzAAAZ e3@AHDlbnrAk]p@AP`:Ap]A,/@A Au?A'c<*AƵ9?2Amֽ:AoG BAƵ9?JAmֽRAoG ٘i)I9]p@YJG JӜ<C=JJJJF&K Y\~?yA&"AAOsNA"AZAbAjArAzAAA}J8"3@A=9rAp@AD<A/AE0@AGA`?AiV<*A9?2A׽:A& BA9?JA׽RA& YKs"@ny0@yx- <ٓHo׿`l??`E`!?@??)Ks"@ II٘i)I9p@YG J<JbDJJJF&K;x> Y[~?y`KAy0@^Fj7Z7ab90B)BE[[8@[[~?[v[[[[BZYY i) W#wrA cq@AF<AA1@AJA+?A<*Av9?2A ׽:AEBAv9?JA ׽RAE٘i)I9cq@YG Jn<JJJJF&K YW[~?y LA`Fŧ7b7,d91B)BE[[vJ:@[&[~?[Y[[[[BZYY i)  elevatorAngleAction: 0.084526< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743039608.403284F (some fields omitted in printout)AQ^@AmQ@A]~? A6Ab&"AAثsNA"AZAbAjArAzAAA}eB2@ABaPrAq@A<A "A3@A۽A?A|<*A&9?2Aֽ:ABA&9?JAֽRA٘i)I9q@Y<G JX<JJJJF&K Y+[~?ypLAaF{7{7e93B)BE[[I;@[[~?[qާ[[[[BZYY i) o9?2Aֽ:ABA>9?JAֽRA٘i)I9xr@YG Jk<JJJJF&K Y[~?yzݧLAbF77g94B)BE[[P=@[r[~?[ܧ[[[[BZYY i) ֽ:AQRBA֛9?JA>ֽRAQR٘i)I9s@YG J<JJJJF&K Yя[~?y-ڧ>MAdFi95B)BE[[?>@[A[~?[<ۧ[[[[BZYY i)  elevatorAngleAction: 0.084526< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743039609.663289F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13108, header.stamp.nsec: 00 temperature: 13.385934* salinity: 33.391720, density: 1025.000000* values[0]: 0.700556F (some fields omitted in printout)A@A"8@AH]~? A+A8 &"AA\BsNA"AZAbAjArAzAAAG 1@A%|rAs@A'!EAyA6@A"\Ae?Ae<*A9?2A<%ֽ:AɐBA9?JA<%ֽRAɐYP(@r6@yREٓH X xѿ w? s? pA+?`X?)P(@ I٘i)I9s@YNG J<JJJJF&Kw> Yt[~?yקMA6@eFŧ7b7Vk9)B[[?@[s[~?[٧[[[[BZYY i) ݴO: i))iLar@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039610.103165 s, next control iter: 1743039610.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039610.503165 s.J~,P4+AJ"J*J2J:JBJnJvJARk@AS{^@AV]~? A%A߷ &"AAVrNA"AZAbAjArAzAAA}VD31@Af9xrAt@A@YA2Ar9@A=A@?Ac2<*Ae9?2Aֽ:ABAe9?JAֽRA٘i)I9t@YG J<JJJJF&K Y>[~?yҧNAhF77n98B)BE[[B@[<[~?[ק[[[[BZYY i) ": O))Os@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039610.523165 s, next control iter: 1743039610.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13109, header.stamp.nsec: 00 temperature: 13.385690* salinity: 33.391705, density: 1025.000000* values[0]: 0.701687F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039610.923165 s.:J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084526< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743039610.923278F (some fields omitted in printout)A{G@A<@A']~? A"AK &"AArNA"AZAbAjArAzAAA0@AͰvrAu@Aa;A~hAb:@A9A ?A<*A9?2AQֽ:AFBBA9?JAQֽRAFB٘i)I9u@Y{G J<JJJJF&K Yl#[~?y^ЧOAiFb7p99B)BE[[D@[![~?[ק[[[[BZYY i) 0'; ))V; w))w.v@8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039611.363165 s, next control iter: 1743039611.743183 s, wait time: 0.380018 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13110&, header.stamp.nsec: 0&0 temperature: 13.385438&* salinity: 33.391731&, density: 1025.000000&* values[0]: 0.702852&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039611.763165 s.8J~,#+AA @A@A<\~? A'Aa!&"AArNA"AZAbAjArAzAAAj~ U0@A2GsrA]v@A8<A A?=@Af;A@.?A<*A9?2Ahֽ:ABA9?JAhֽRAYx/@=@y59<ٓH[/ƿ`t??{|rL??U?)x/@ I٘i)I9v@YGG J<B=J,JJJF&Kx> YZ~?yV̧OA=@lFj7Z7Lt9)BE[[F@[{Z~?["֧[[[[BZYY i) d`t;  )) x@^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039611.803165 s, next control iter: 1743039612.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039612.183165 s.J "J *J 2J :J 4?BJ 4?nJ <5vJ J~, +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084526< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743039612.183286F (some fields omitted in printout)A(\B@Ah5@A\~? AAh!&"AAfrNA"AZAbAjArAzAAA+5` 0@A~$ rrAw@A$;AfA>@A@a`A ?Aʅ<*Av9?2Aֽ:A BAv9?JAֽRA ٘i)I9w@YG J;<C=JJJJF&K YZ~?yʧgPAmFb77v9)~B[[;H@[^Z~?[է[[[[BZYY i) Avm; ))|y@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039612.223165 s, next control iter: 1743039612.583180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039612.603165 s.84J~,&+AAQx@AFk@A\~? ARA!&"AA"ArNA"AZAbAjArAzAAAz~/@A IprAIx@AMhAA@@AڂAGBZYY i¸>}:) GW; n:))n:Gz@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039612.643165 s, next control iter: 1743039613.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13111 , header.stamp.nsec: 0 0 temperature: 13.385211 * salinity: 33.391731 , density: 1025.000000 * values[0]: 0.704081 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039613.023165 s.J "J *J 2J :J >4?BJ >4?nJ =5vJ ZJ~,{A+AAHz@Aρ@A\~? A$A!&"AAXrNA"AZAbAjArAzAAA .@A2;HorAy@A+ACA^WA@A`A@j?Aq<*A9?2Aֽ:AbBA9?JAֽRAb٘i)I9y@YG Jw<JJJJF&K YUZ~?yǧVQApFŧ7b7y9=B)uBE[[NJ@[Z~?[֧[[[[ZZZZBZYY i) B)oBE[[JL@[=Z~?[g֧[[[[ZZZZBZYY i) 䔼w+A2J:J4?BJ4?nJZ=5vJA@A - @A:R\~? A@AY>"&"AA+qNA"AZAbAjArAzAAAuC>B-@A-lrA z@AfAܖAC@AJA`S?AmZ=*A9?2AXTֽ:AaڸBA9?JAXTֽRAaڸY5@C@yۖlٓH 4[_?0?@ײ?L|?)5@ I٘i)I9z@YG J=J;=JJJF&Kw> YoaZ~?yQŧ4RAC@rF777A}9?B)iBE[[M@[|eZ~?[֧[[[[ZZZZBZYY i) RJ~,+AA(\O@AkzPB@A8\~? AAWa"&"AAͨqNA"AZAbAjArAzAAA^)S]-@AXkrAq{@A;ApALE@AAl?A<*A9?2AYֽ:A_BA9?JAYֽRA_٘i)I9{@YG J<JJJJF&K YJEZ~?yħRAtF{7 9)cBE[[-N@[JZ~?[ק[[[[ZZZZBZYY i) KPx@A[\~? AA3"&"AAAqNA"AZAbAjArAzAAAÀ,@A,BjrA=|@AW7&<A,AF@A` AR?A<*A9?2A2ֽ:ABA9?JA2ֽRA٘i)I9=|@YG JI<JJJJF&K Y#)Z~?yçRAuFb777׀9@B)^BE[[UP@[0Z~?[qا[[[[ZZZZBZYY i) 3 < M~ ))M~ P@GM)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039615.583165 s, next control iter: 1743039615.943176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13114, header.stamp.nsec: 00 temperature: 13.384355* salinity: 33.391701, density: 1025.000000* values[0]: 0.708253F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039615.963165 s.J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083119< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743039615.963330F (some fields omitted in printout)Affff&@AJ[\@AR[~? AV A"&"AA qNA"AZAbAjArAzAAA\ǰ*@AJ hrA}@AU:AP%;AnGAuGA` ?A(0<*A9?2Aֽ:A<BA9?JAֽRAJJJF&K(x> YY~?y§SAGyF{779AB)SBE[[IPT@[Y~?[ۧ[[[[ZZZZBZYY iz) q5vJA(\@Aq6O@A~[~? Aq A"&"AApNA"AZAbAjArAzAAAX"*@A˃F%hrAh}@A(Aj<AMFA`UAd̲?Ah;*Aޝ9?2Ahֽ:Ax<BAޝ9?JAhֽRAx<٘i)I9}@YG J6<JJJJF&K Y< ))@y!ԔyYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743039617.243165 s, next control iter: 1743039617.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039617.643165 s.{J~,*i +AA ףp@A/d@Aj[~? AA#&"AAppNA"AZAbAjArAzAAAŵq9(@AgrA}@Ao.A[=A kBA1pA?A*AZ9?2A[ֽ:A_<BAZ9?JA[ֽRA_<٘i)I9}@YG JJJJJF&K YPcY~?yçSA~F7a9CB)TB}E[[Y@[}Y~?[[[[[BZYY i) &JJJF&Kw> YEGY~?yħESA AF77,9)VBzE[[Z@[dY~?[ [[[[BZYY iFf) g5vJAQ@Au@A[~? AAb#&"AAoNA"AZAbAjArAzAAA}`&@AfrA|@A@><AW"=A?>A`sA Ay*A39?2Aֽ:A=BA39?JAֽRA=٘i)I9|@YG JJJJJF&K Y-Y~?yƧRAF77’9DB)]BtE[[r]@[4Y~?[[[[[BZYY i) W&;IwD?i.?[Ze< ))Ç@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039618.923165 s, next control iter: 1743039619.303182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743039619.323165 s.s4J~, +AAGzԞ@Ax%sǞ@A[~? AAH#&"AARoNA"AZAbAjArAzAAA%@AVgrAT^|@A$;AM"=A>=A BpA(AE*Ao9?2Adֽ:Am*=BAo9?JAdֽRAm*=٘i)I9^|@YG JaJJJJF&K Y!X~?yǧIRAF77j79)aB[[b^@[6Y~?[E[[[[BZYY i) r;ID?i?p< c@))c@o@y gϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039619.343165 s, next control iter: 1743039619.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13118*, header.stamp.nsec: 0*0 temperature: 13.384525** salinity: 33.391678*, density: 1025.000000** values[0]: 0.707937*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039619.743165 s.W;J~,q +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743039619.743288F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= @A2@AZ~? A* A#&"AAoNA"AZAbAjArAzAAA۟%%@A^grA {@A[An=Af;A|jAJAp*A9?2Aֽ:AB =BA9?JAֽRAB =٘i)I9{@YGG JJJJJF&K YX~?yȧQAFb7b7W9)eBqE[[_@[Y~?[[[[[BZYY i) 3;ID?iu?|< ))@y#g3ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039619.763165 s, next control iter: 1743039620.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039620.163165 s.y}BJ~,q !+AA@@AW>2@AZ~? A A_"&"AAoNA"AZAbAjArAzAAAf_f$@AOw=grA5L{@A5A!=AS:AaAoAN*A9?2Aֽ:A/$=BA9?JAֽRA/$=Y|I@:y}=o6ٓH ̿.@R@H?񱆿@O?)|I@ I٘i)I9L{@YG JDJ =JJJF&K.x> YX~?yʧQA:F7"9)jBnE[[Fa@[X~?[[[[[BZYY i) `;ID?i?"F< +*))+*Pʼn@y⇽#ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039620.203165 s, next control iter: 1743039620.563178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039620.583165 s.HJ~,R%!+AJ"J*J2J:JBJnJvJA)\u@A$'h@AZ~? A} A"&"AAX]oNA"AZAbAjArAzAAAEg#@A2Y,hrAz@AAHAw=A@9AVA OA*Aƨ9?2APֽ:AY=BAƨ9?JAPֽRAY=٘i)I9z@YG J妼JJJJF&K YX~?y̧&QAF7777왲9)nBkE[[b@[X~?[[[[[BZYY i) d;IjE?i~?W< ))kh@ ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039620.603165 s, next control iter: 1743039620.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13119, header.stamp.nsec: 00 temperature: 13.384814* salinity: 33.391685, density: 1025.000000* values[0]: 0.706915F (some fields omitted in printout)FX~?)F̧ rAdjusting time to match Gazebo time: 1743039621.003165 s.{ PJ~,Y4@!+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743039621.003349F (some fields omitted in printout)AR@A={@A"Z~? Ae A"&"AA$6oNA"AZAbAjArAzAAA'<:N#@A ԺhrA1z@ApAN=A7ABIAAuB*A9?2Aֽ:A =BA9?JAֽRA =٘i)I91z@YFG JJJJJF&K YX~?yΧPAFŧ7ŧ79)sBhE[[c@[߾X~?[[[[[BZYY i) m(;I*E?iE?ⱋ< 3))3N @ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039621.043165 s, next control iter: 1743039621.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039621.423165 s.uVJ~,[!+AJ"J*J2J:J4?BJ4?nJ=5vJA{G@AdyW=ԟ@A[Z~? Aw Al"&"AAoNA"AZAbAjArAzAAAYp"@AbirAqy@A:Aؗ=Ar6Aq9A`ֺA=*A9?2Afaֽ:A(=BA9?JAfaֽRA(=٘i)I9y@YG JJJJJF&K YiX~?yЧWPAF7779)wBfE[[e@[QX~?[ [[[[BZYY i) f:IHCE?i?'4< ))@&ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039621.443165 s, next control iter: 1743039621.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13120, header.stamp.nsec: 00 temperature: 13.385027* salinity: 33.391674, density: 1025.000000* values[0]: 0.705884F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039621.843165 s.\J~,u!+AAp= @AlZ) @AgZ~? A A"&"AAnNA"AZAbAjArAzAAAǓ"@AX"jrAx y@A <A/ƕ=Avs5A@M'A A?*A.9?2A$1ֽ:AY =BA.9?JA$1ֽRAY =٘i)I9 y@YG J䮼B=JJJJF&K Y}MX~?yҧOAFb77L9)|BcE[[Pf@[&X~?[[[[[[BZYY i) ?:I\E?iO?$=< 3))3NJ@WΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039621.863165 s, next control iter: 1743039622.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039622.263165 s.dJ~,ؐ!+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743039622.263279F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@A?@A NZ~? AA"&"AAnNA"AZAbAjArAzAAA<@{!@AR/jrAzx@A_M<A:=A(4A A@)A䬼*A%9?2A8ֽ:A=BA%9?JA8ֽRA=YpO@%4y7=$M<ٓH`8?Oq@Կ`]N`9b@?2?)pO@ I٘i)I9zx@Y;G JC=JJJJF&K+x> Y2X~?yէOA4F{7{79)B[[Ғg@[{X~?[[[[[BZYY i) PIvE?iD?` < ۑ))ۑd@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039622.303165 s, next control iter: 1743039622.663175 s, wait time: 0.360010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 131212, header.stamp.nsec: 020 temperature: 13.3853092* salinity: 33.3916662, density: 1025.0000002* values[0]: 0.7048022F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039622.683165 s.ljJ~,g!+AA(\@A}ƅu@A4Z~? AA"&"AAYnNA"AZAbAjArAzAAA:Y | @A[CqkrAw@AZ <At=A2AA`L ÿAV*Aټ9?2A>uֽ:A=BAټ9?JA>uֽRA=٘i)I9w@YG JJJJJF&K YX~?y~ا*OAFj7Z7⢲9)B`E[[Gh@[fX~?[s[[[[BZYY i) IE?i?}f< ))@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039622.683165 s, next control iter: 1743039623.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743039623.103165 s.qJ~,!+AJ"J*J2J:JBJnJvJAQ@A{E@AZ~? A[AKb"&"AAsnNA"AZAbAjArAzAAAO.ZF @AfdlrAaw@Aj'9AÍ=A!1AAĿAt$*A-9?2Aֽ:A<BA-9?JAֽRA<٘i)I9aw@YG JJJJJF&K YIW~?ySۧNAF7)79)B]E[[j@[PX~?[) [[[[BZYY i) IE?iV@XF< k))k뿩*@gêYFFF]Waiting for Gazebo time sync: latest Gz time: 1743039623.143165 s, next control iter: 1743039623.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039623.523165 s.wJ~,{!+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743039623.523289F (some fields omitted in printout)AHz@A΍ @AZ~? A;AY?"&"AAKMnNA"AZAbAjArAzAAA*zY@A-nrA9v@Aj Ai=A'0AAƿAs*A9?2A׽:A6<BA9?JA׽RA6<I٘i)I9v@YAG JJJJJF&K YW~?y)ާdNAF77w9)BZE[[Mk@[;X~?[ [[[[BZYY i) DIE?i@S< [))[鿩Ȏ@&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039623.563165 s, next control iter: 1743039623.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13122, header.stamp.nsec: 00 temperature: 13.385569* salinity: 33.391674, density: 1025.000000* values[0]: 0.703779F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039623.943165 s.d~J~,]!+AJ"J*J2J:J*4?BJ*4?nJ<5vJAq= #@A1@AY~? AEA@"&"AA 'nNA"AZAbAjArAzAAAΘ(@A$Y^orA8bv@ANA=A.A`AުȿAT*A9?2A׽:Aw<BA9?JA׽RAw<٘i)I9bv@YG JҔJJJJF&K YW~?yNAFb7B9)BWE[[l@[&X~?[[[[[BZYY i) IE?i- @< ))濩ze@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039623.983165 s, next control iter: 1743039624.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039624.363165 s.J~,>"+AAY@A>L@AY~? AwA!&"AAnNA"AZAbAjArAzAAA@AlprAu@A.&A=A-AAҁʿAAݏ*A9?2Aֽ:A`<BA9?JAֽRA` YW~?yMA-F7 9)BTE[[/m@[*X~?[[[[[BZYY is ) I?F?i @E< /))/俩@gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039624.403165 s, next control iter: 1743039624.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13123&, header.stamp.nsec: 0&0 temperature: 13.385811&* salinity: 33.391663&, density: 1025.000000&* values[0]: 0.702852&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039624.783165 s.\J~,2"+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076196< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743039624.783278F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AbMeQ@AY~? AA!&"AA#mNA"AZAbAjArAzAAA&@A5MwV%rrAou@AmA=AF,AHbA R̿A*A9?2Aԥֽ:AQ<BA9?JAԥֽRAQ<٘i)I9ou@YaG JC=JJJJF&K YmW~?ySKMAFŧ7b7׫9)B/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #82q/R^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) Ӿ)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039624.823165 s, next control iter: 1743039625.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039625.203165 s.J~,M"+AAQš@As"@AY~? ATAd!&"AAmNA"AZAbAjArAzAAA1R>@A&srAt@AD;A=A+A {<AοAj*A9?2Aeֽ:AI<BA9?JAeֽRAI<٘i)I9t@YG JJJJJF&K YzW~?yLAFZ7Z792B)BQE[[8p@[W~?[f[[[[BZYY i) nݻI$F?i @A5< F߿)) F߿Z>@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039625.243165 s, next control iter: 1743039625.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039625.623165 s.J "J *J 2J :J 3?BJ 3?nJ q<5vJ YJ~,eg"+AAG@A@AlY~? A A5a!&"AA0mNA"AZAbAjArAzAAA\3=Gu@ATTurA@t@AA<Ao=A *A@A^пA*A:?2A:AZS=BA:?JARAZS=٘i)I9t@YG JNJJJJF&K Y aW~?yLAFj7j7l91B)BNE[[oq@[nW~?[![[[[BZYY i) I_EF?i"@s< VQݿ))ّܿ@y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039625.663165 s, next control iter: 1743039626.023181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13124, header.stamp.nsec: 00 temperature: 13.386031* salinity: 33.391663, density: 1025.000000* values[0]: 0.702002F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039626.043165 s.J~,Â"+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076196< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743039626.043297F (some fields omitted in printout)A= ף0@A9Z#@AmY~? A"A+!&"AA kmNA"AZAbAjArAzAAAyՅM@AwrAt@A.<Aۢ=AL)A@"A@HпAG|*AR:?2A}ý:AL=BAR:?JA}ýRAL=٘i)I9t@YG JJJJJF&K Y]GW~?yR9LAF7777792B)BLE[[r@[TW~?[1&[[[[BZYY i) IfF?i@O4< 7nڿ))7nڿMt@YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039626.063165 s, next control iter: 1743039626.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039626.463165 s.VJ~,褝"+AJ"J*J2J:J3?BJ3?nJS<5vJAfffff@A\Y@ATY~? A%A &"AAFmNA"AZAbAjArAzAAA%&@A96xrAؒs@A%;A\=A}B(AA%ѿAۋ*A:?2A#Ž:A =BA:?JA#ŽRA =Y[@=(y\=s;ٓH5qb?h\T߿N`J(`p??)[@ I٘i)I9s@Y>G JJ:JJJF&KK> Y.W~?yKA=(F79)BIE[[s@[WW~?[*[[[[BZYY i) IF?i@6< ׿))׿@༪YeYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039626.483165 s, next control iter: 1743039626.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13125, header.stamp.nsec: 00 temperature: 13.386250* salinity: 33.391655, density: 1025.000000* values[0]: 0.701153F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039626.883165 s.zJ~,Y"+AA(@AE@A Y)V~?y JA!F779)B[[y@[#+AJ"J*J2J:J3?BJ3?nJ;5vJA\@A͍難@AX~? AH:Am&"AAmlNA"AZAbAjArAzAAA0P`l@AKYrAp@Ag<A̘=A[ AAm=ֿA7*Ap:?2Aҽ:A0=BAp:?JAҽRA0=٘i)I9p@Y{G J顼JJJJF&K Y V~?y IAFb77½9)B>E[[{@[hFW~?[H[[[[BZYY i)  zI^gG?i5@T< ɿ))ɿv@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039629.003165 s, next control iter: 1743039629.383184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743039629.403165 s.&J~,Y#+AAQޣ@A@ѣ@AȯX~? A,>A #&"AAJlNA"AZAbAjArAzAAAx@Aˆ?rA p@A0=<At=A9PA A׿A@᩼*A>h:?2Aӽ:A==BA>h:?JAӽRA==٘i)I9 p@Y%G JB=JJJJF&K YV~?yA`;A`ٿA*AH:?2Aֽ:A=BAH:?JAֽRA=Yh@Hyf= ٓH|e?o>@L$!W糿f?)h@ I٘i)I9un@Y!G JJ&<JJJF&K|> Y_CV~?y'HAHF77IJ9)B5E[[@[W~?[][[[[BZYY i) =I1 H?iE@1< GE))GE@y!۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039630.683165 s, next control iter: 1743039631.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039631.083165 s.DJ~, S#+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085065< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743039631.083325F (some fields omitted in printout)A)\µ@A5鶨@AVX~? A(OAl&"AA:kNA"AZAbAjArAzAAA3L B@ArAm@A0>Ag =AA@\A@QڿAߌ*A=:?2ANֽ:A=BA=:?JANֽRA=٘i)I9m@YG JըJJJJF&K Y.V~?y-GAF{7{7Ʋ9/B)B1E[[sr@[V~?[b[[[[BZYY i) +I97H?i/H@= ))n@ުYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743039631.103165 s, next control iter: 1743039631.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039631.503165 s.J~,]4#+AJ"J*J2J:Jl2?BJl2?nJ;5vJAR@A#fyޤ@AmAX~? ASA5&"AAkkNA"AZAbAjArAzAAATo8@A2gurAxVm@Ap+A=AA=A\ۿAo*A\3:?2A@ֽ:A^=BA\3:?JA@ֽRA^=٘i)I9Vm@YsG J㬼JJJJF&K YV~?y31GAF77Ȳ90B)ƯB3E[[@[OV~?[ h[[[[BZYY i) +I cH?iK@c= o))o)@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039631.543165 s, next control iter: 1743039631.903183 s, wait time: 0.360018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13130, header.stamp.nsec: 00 temperature: 13.387419* salinity: 33.391617, density: 1025.000000* values[0]: 0.696480F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039631.923165 s.8J~,#+AA{G!@A<@A@,X~? AyXA^*&"AAkNA"AZAbAjArAzAAAlMT7@AǗrAMl@AqA=AVAAxۿAE*A):?2Aֽ:A=BA):?JAֽRA=٘i)I9l@YG JJJJJF&K YsV~?yK9FAFŧ7b7Mʲ9)ʯB0E[[@[V~?[m[[[[BZYY i) IH?iO@= H))H@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743039631.943165 s, next control iter: 1743039632.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039632.343165 s.<J~,$+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085065< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743039632.343282F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@A J@AcX~? AT]A&"AA3bkNA"AZAbAjArAzAAA&([=@ArA!l@A;AX=AA A@4ܿA*A :?2Aֽ:A=BA :?JAֽRA=٘i)I9!l@YG JcJJJJ F&K Y"U~?y?[FAFb77̲9/B)ίB,E[[.@[MV~?[Ss[[[[BZYY i) IJH?iS@= ))P@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039632.383165 s, next control iter: 1743039632.743177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13131&, header.stamp.nsec: 0&0 temperature: 13.387700&* salinity: 33.391590&, density: 1025.000000&* values[0]: 0.695421&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039632.763165 s.8 J~,#0$+AǍ@A@AX~? APbAm&"AABkNA"AZAbAjArAzAAAsKFx?AIzMɝrAC|k@Aݳ;<A=AA`A ]ݿAǼ*A!:?2Aֽ:A=BA!:?JAֽRA=Y`o@۸y=_<<ٓH wS?E谿DHx핵Yv?I?)`o@ I٘i)I9|k@YRG J'ļJx<JJJ F&Ky> YU~?y|EEAF777Ͳ9)ӯB[[NÂ@[V~?[y[[[[BZYY i) cIgH?i~V@F = G))GI@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039632.783165 s, next control iter: 1743039633.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039633.183165 s.J~,ZK$+AJ"J*J2J:JBJnJvJA(\¥@A߃@AW~? AlgA &"AA#kNA"AZAbAjArAzAAA se?AŘqPrAj@AP$<A =AwAA޿A ˼*Aa:?2Aֽ:A=BAa:?JAֽRA=٘i)I9j@YG JrɼJJJJ F&K YU~?yKsEAF77ϲ9)دB)E[[/W@[V~?[~[[[[BZYY i) ǼII?ieY@`" = Z))Z*y@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039633.223165 s, next control iter: 1743039633.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039633.603165 s.74J~,f$+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085065< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743039633.603298F (some fields omitted in printout)AQ@AF@AW~? AlA&"AAkNA"AZAbAjArAzAAAH?AFO rA'j@Ae)Z;AD=A'AA ޿A̼*A :?2A"׽:A=BA :?JA"׽RA=٘i)I9'j@YG J˼JJJJ F&K YBU~?yRRDAF7wѲ90B)߯B*E[[L@[V~?[[[[[BZYY i) hμIi\@< = O))OG @&"AAjNA"AZAbAjArAzAAAL?A$+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085065< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743039634.863291F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A>@A^W~? A}A h&"AAjNA"AZAbAjArAzAAAj;?Am}&rAa"h@Ao1Aw=AAAyAм*A\9?2Atv׽:AY=BA\9?JAtv׽RAY=YLu@I/y=a2ٓHO@y?ަ \ \`5 ?)Lu@ I٘i)I9"h@YH G JμJ:<JJJF&Ky> Y|U~?y'fCA/F7{7ֲ9)B[[@[V~?[[[[[BZYY i) Iif@?= ?5))?5ž@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039634.883165 s, next control iter: 1743039635.263176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039635.283165 s.4R4J~,$+AA(\Ϧ@AXP¦@AW~? AׂA&"AArjNA"AZAbAjArAzAAA"?AgԤrApg@A7wAս=A A lAJA|ּ*Ax9?2A%׽:AP=BAx9?JA%׽RAP=٘i)I9pg@Y G J\ӼJJJJF&K YkU~?y&m$CAF{777ز9.B)B!E[[2@[?vV~?[[[[[ZZ¸BZYY i¸=) PؼIiFi@K= 즿))즿T@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039635.303165 s, next control iter: 1743039635.683174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13134., header.stamp.nsec: 0.0 temperature: 13.388581.* salinity: 33.391556., density: 1025.000000.* values[0]: 0.691801.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039635.703165 s.Ӻ:J~,$+AJ"J*J2J:JBJnJvJAQ@A&@A|W~? AAڈ&"AAujNA"AZAbAjArAzAAA֑)?A4rA`f@AlS;Aߧ=A) A@A}"AՏܼ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9f@Yl G J/ټJJJJF&K YiZU~?y%tBAF77{7mڲ9/B)B"E[[Ć@[LkV~?[[[[[ZZBZYY i) ̼IiHl@8= ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039635.723165 s, next control iter: 1743039636.103174 s, wait time: 0.380009 siZU~?)%t rAdjusting time to match Gazebo time: 1743039636.123165 s.1AJ~,C%+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: 0.4200062 time: 1743039636.123267F (some fields omitted in printout)AG:@Aؘ-@ARkW~? AA&"AAZjNA"AZAbAjArAzAAAgAոrAe@AY"<A0"=AS A#p߿AqAX8*A9?2Aֽ:AH<BA9?JAֽRAH<٘i)I9e@Y G J;JJJJF&K YRIU~?y${2BAFŧ7b78ܲ9)BE[[T@[`V~?[ܨ[[[[ZZBZYY i) YIio@c= d))dv@tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039636.143165 s, next control iter: 1743039636.523174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743039636.543165 s.IHJ~,"%+AJ"J*J2J:JBJnJvJA= ףp@Asc@AZW~? AA&"AAY@jNA"AZAbAjArAzAAA{ԑ ˿A^LJrAq e@A/7<A=A4 A ޿AAҶ*A9?2Aǧֽ:Ak<BA9?JAǧֽRAk<٘i)I9 e@Ye G JJJJJF&K Y=8U~?y"AAFZ7SI7޲9)B[[@[VV~?[[[[[ZZBZYY i) Iims@0= %))%z@y_=ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039636.583165 s, next control iter: 1743039636.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13135, header.stamp.nsec: 00 temperature: 13.388918* salinity: 33.391548, density: 1025.000000* values[0]: 0.690422F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039636.963165 s.}NJ~,=%+AAffff@A`=[@ABIW~? A֚A)&"AA&jNA"AZAbAjArAzAAA}PڿA_oLJrA0d@A^;Ap=AGAiݿA`A=*A:?2Aֽ:Ac<BA:?JAֽRAc Yz)U~?yhAAF)7ŧ7߲9.B) BE[[u@[LV~?[K[[[[ZZBZYY i) VIihu@= ߝ))ߝ痡@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039637.003165 s, next control iter: 1743039637.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039637.383165 s.UJ~,'X%+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: 0.4199732 time: 1743039637.383269F (some fields omitted in printout)J"J*J2J:JBJnJvJA(ܧ@A}ϧ@A8W~? AA&"AAI jNA"AZAbAjArAzAAAaAEWrA9qc@Ai A{+=A`Ax@ݿA`^A̼*A :?2Aֽ:A;BA :?JAֽRA;٘i)I9qc@Yl G J&JJJJF&K YU~?y+AAF779/B)BE[[@[7CV~?[[[[[ZZBZYY i) hIiw@đ= ))(@JqYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039637.403165 s, next control iter: 1743039637.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13136&, header.stamp.nsec: 0&0 temperature: 13.389299&* salinity: 33.391552&, density: 1025.000000&* values[0]: 0.688857&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039637.803165 s.vA\J~,wgs%+AA@AC@A(W~? AxAB5&"AAiNA"AZAbAjArAzAAA4CsAvrAb@Aq!AW<AA ܿA`A>*A:?2Aֽ:A elevatorAngleAction: 0.082853< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743039638.643288F (some fields omitted in printout)A ףp}@Aͩdp@A W~? AA8&"AA[iNA"AZAbAjArAzAAA廍ArAa@AqA5A~xAڿA<Ax(*Az9?2Aֽ:ARBAz9?JAֽRAR٘i)I9a@Y G J.UJJJJF&K YvT~?y%@AF)7)79*B)BE[[_@[)V~?[Ψ[[[[ZZBZYY i) lxtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13137I, header.stamp.nsec: 0i@͈$=0 temperature: 13.389544* salinity: 33.391544 ┿, density: 1025.000000)* values[0]: 0.687824F (some fields omitted in printout))┿Zף@C)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039638.683165 s, next control iter: 1743039639.043177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039639.063165 s.pJ~,R %+AJ"J*J2J:JBJnJvJA3333@At#,*@ATV~? A+A&"AAiNA"AZAbAjArAzAAAeXArA a@AVAAX)A`+ڿA`A*AI9?2Aֽ:AQ3BAI9?JAֽRAQ3YQx@(yٓH\ۿ?D?8aۿ 숓?p6?3R@?)Qx@ I٘i)I9a@Yg G J JDJJJF&K\x> Y7T~?yC@A(Fb779)B[[E@[!V~?[ը[[[[ZZBZYY iLn=) ;fIib@%= K))Kg@X)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039639.103165 s, next control iter: 1743039639.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039639.483165 s.v_wJ~,%+AA\@Aّۨ@A V~? AA4&"AAiNA"AZAbAjArAzAAAS؏ A0 &rA3a@A;A AA]ٿA&ApӺ*A9?2A׽:AԼBA9?JA׽RAԼI٘i)I9a@YV G JJJJJ F&K YT~?ya@AF779)BE[[CՋ@[qV~?[ۨ[[[[BZYY i=) BTIij@&= sb))sb>@<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039639.523165 s, next control iter: 1743039639.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13138, header.stamp.nsec: 00 temperature: 13.389679* salinity: 33.391529, density: 1025.000000* values[0]: 0.687352F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039639.903165 s.J "J *J 2J :J /?BJ /?nJ 85vJ }J~,%+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743039639.903294F (some fields omitted in printout)AQ@AL@A2V~? AȩA&"AAOiNA"AZAbAjArAzAAA ~AWTrAa@A1><A :A AฌؿAAe1];*A9?2A!׽:ABA9?JA!׽RA鼙٘i)I9a@YY G J~&:JJJJ!F&K YT~?y~@AFb77X9)B)BE[[zd@[3V~?[[[[[BZYY i) BIi@|(= %))%u@{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039639.943165 s, next control iter: 1743039640.303180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039640.323165 s.yJ~,2&+AAGzT@AcbqG@AV~? AϩA)&"AAniNA"AZAbAjArAzAAAHt%W6AqprASa@A&<AV^AtAݺ׿A%FA6;*A39?2Aֽ:A BA39?JAֽRA ٘i)I9a@Yn G JC;JJJJ#F&K Y{T~?yǨ@AF#9)B[[ @[[ V~?[[[[[BZYY i) ?0Ii@H*= K닿))K닿@y⛎=z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039640.343165 s, next control iter: 1743039640.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13139*, header.stamp.nsec: 0*0 temperature: 13.389659** salinity: 33.391518*, density: 1025.000000** values[0]: 0.687448*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039640.743165 s. WJ~,/&+AJ"J*J2J:J/?BJ/?nJ85vJAףp=@Az6>}@AV~? A֩Ar&"AAZiNA"AZAbAjArAzAAAA elevatorAngleAction: 0.068852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743039641.163283F (some fields omitted in printout)A@Ac@@AgV~? AݩA&"AAbGiNA"AZAbAjArAzAAA(`A+rAgb@ApʻAA_A@ֿA@Aڅo<*A9?2Aiֽ:AnBA9?JAiֽRAnYB@!Ry;˻ٓHMտ?C\? `Bտa?@@?Xy`9?)B@ I٘i)I9gb@Y G J?R<C=J/߽JJJ%F&Kw> YT~?yרAARF87SI79)BE[[@[U~?[[[[[BZYY iAf=) CIiO@2-= ?y))?y1@S*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039641.203165 s, next control iter: 1743039641.563174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743039641.583165 s.J~, Se&+AJ"J*J2J:JBJnJvJA)\@A5@AdV~? AA&"AA4iNA"AZAbAjArAzAAAGׅ&AK~rA b@Ax>AF쒽AA`;տA A<*A9?2AIֽ:ArBA9?JAIֽRAr٘i)I9b@Y G J`<JJJJ'F&K YT~?ytAAFb7b79)B[[ĝ@[U~?[Y[[[[BZYY i) >Ii.@P.= o@))o@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039641.623165 s, next control iter: 1743039641.983177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13140, header.stamp.nsec: 00 temperature: 13.389532* salinity: 33.391483, density: 1025.000000* values[0]: 0.688060F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039642.003165 s.z J~,U4&+AAR+@AW z@A٠V~? A8A&"AA"iNA"AZAbAjArAzAAAղ>ArASc@A74AbA-5A_`ԿA)A<*A+9?2Ajֽ:AbnBA+9?JAjֽRAbn٘i)I9Sc@YZ G J<JJJJ(F&K YT~?y]AAF777M9)B[[+@[U~?[[[[[BZYY i) Ii=@G/= + ))+ M@u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039642.023165 s, next control iter: 1743039642.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039642.423165 s.uJ~,&+AJ"J*J2J:JC0?BJC0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056215< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743039642.423314F (some fields omitted in printout)A{Ga@A3 YzT~?y{BAFFZ7SI79)B[[ Ӑ@[U~?[[[[[BZYY i) RIin@F3= x))x@L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039643.283165 s, next control iter: 1743039643.663178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13142., header.stamp.nsec: 0.0 temperature: 13.389084.* salinity: 33.391449., density: 1025.000000.* values[0]: 0.690208.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039643.683165 s.lJ~,I&+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065448< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4197982 time: 1743039643.683260F (some fields omitted in printout)A(\@AMg'@AwV~? A A&"AAhNA"AZAbAjArAzAAAsb(AĿEsAe@Ac@<A@AxABпAAoj<*Ad9?2At0׽:AiBAd9?JAt0׽RAi٘i)I9e@Y G JI<C=JJJJ-F&K YsT~?y XCAFj7j7x9)B[['`@[U~?[[[[[BZYY i) RLIi"@W4= mt))mt"@0*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743039643.683165 s, next control iter: 1743039644.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743039644.103165 s.J~,'+AJ"J*J2J:J0?BJ0?nJo95vJAQ8@A.II+@AonV~? AuA@,&"AAhNA"AZAbAjArAzAAA9[YLAbsAf@AX;A<ޔAA4ϿA|AJ<*A9?2A-ֽ:A<BA9?JA-ֽRA<٘i)I9f@Y G J<B=JJJJ/F&K YlT~?yCAF77C9'B)BE[[ @[U~?[?$[[[[BZYY i) ~Ii@5= p))p@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039644.123165 s, next control iter: 1743039644.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039644.523165 s.J~,{!'+AAHzn@AX5a@AeV~? AAݗ&"AAhNA"AZAbAjArAzAAAA2A5Z sAbf@A# ANAxAοA AA9S<*A9?2A ֽ:A-`BA9?JA ֽRA-`٘i)I9f@Yc G J<C=JJJFFJ0F&K  9YfT~? 9y&DAF77 9)B[[\y@[~U~?[*[[[[BZYY i) 8Ii@U*7= k))kW@y=x*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743039644.543165 s, next control iter: 1743039644.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13143, header.stamp.nsec: 00 temperature: 13.388821* salinity: 33.391407, density: 1025.000000* values[0]: 0.691398F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039644.943165 s.YdJ~,F]<'+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065448< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743039644.943291F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף@A8̖@A]V~? A Ak&"AA]hNA"AZAbAjArAzAAA1t Aʘ* sAY8g@AA+A<ݿAM̿A@gAl<*A9?2Aֽ:A[BA9?JAֽRA[٘i)I98g@Y G Jȧ<JJJJ1F&K YG_T~?y#DAF7)79)B[[?@[U~?[1[[[[BZYY i) ֹIiZ@8= Eg))Eg:'@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039644.963165 s, next control iter: 1743039645.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039645.363165 s.J~,>W'+AA٫@A|%̫@A VV~? A(Ak &"AAlhNA"AZAbAjArAzAAAۇR AQr=sA?g@ADA"ŌAWۿA{ʿAJA<*A9?2Ajֽ:AOBA9?JAjֽRAOY=@<ۿyŒEٓH`*¿?$?i7¿`?Ŕ?`Y@?)=@ I٘i)I9g@Y G JX<Js<JJJ3F&K\x> YH[T~?y^,DA<ۿFZ7SI79)B[[ߑ@[gU~?[T8[[[[BZYY i) :Ii@*89= b))bڳ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039645.383165 s, next control iter: 1743039645.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13144&, header.stamp.nsec: 0&0 temperature: 13.388584&* salinity: 33.391407&, density: 1025.000000&* values[0]: 0.692539&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039645.783165 s.[J~,r'+AJ"J*J2J:JBJnJvJA(\@A Q@AOV~? AG0A &"AA@hNA"AZAbAjArAzAAAEm Ah眂sAIh@AQAAؿAsȿA`AE<*A 9?2Aֽ:ABA 9?JAֽRA٘i)I9Ih@Y` G J2<JJJJ4F&K YIWT~?y5JEAFb77m9)BE[[I@[hU~?[?[[[[BZYY i) l:Ii<@9= |^))|^D@@&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039645.803165 s, next control iter: 1743039646.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039646.203165 s.J~,'+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065448< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743039646.203301F (some fields omitted in printout)AQE@AƠ8@ArHV~? A8AM< &"AAۘhNA"AZAbAjArAzAAAMЀ AH sAh@A7AΙAֿA@ƿA[A,<*A#9?2AY ׽:A8 BA#9?JAY ׽RA8 ٘i)I9h@Y G J<JJJJ6F&K YIST~?y=EAF7789)B[[o@[U~?[E[[[[BZYY i) X!;Ii@:= Z))Zj̭@θ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039646.243165 s, next control iter: 1743039646.603181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743039646.623165 s.VJ~,X'+AJ"J*J2J:J1?BJ1?nJ3:5vJAGz@A m@AbBV~? A?A0 &"AA>hNA"AZAbAjArAzAAA%ϟ1 Af%sACi@AG<AjAWӿANĿA`GAČ<*A9?2AA׽:A BA9?JAA׽RA 𼙘٘i)I9Ci@Y G JÐ<JJJJ7F&K YJOT~?yFFAFZ7SI7 9&B)ܯB E[[46@[U~?[}L[[[[BZYY i) @_;Iiڒ@S;= ]U))]U/X@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039646.663165 s, next control iter: 1743039647.023178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13145, header.stamp.nsec: 00 temperature: 13.388362* salinity: 33.391403, density: 1025.000000* values[0]: 0.693647F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039647.043165 s.J~,'+AA= ף@A x@AG JL<JJJJ8F&K YJKT~?y>OfFAF777 9)ٯB[[@[U~?[0S[[[[BZYY ihs=) ;Ii@Z== EbQ))EbQ@+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039647.063165 s, next control iter: 1743039647.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039647.463165 s.UJ~,'+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074439< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743039647.463294F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@ANZ٬@A7V~? AOAn &"AAc~hNA"AZAbAjArAzAAAhK1 Ah.sA2)j@AD<AQAIοAP!AAg<*A9?2A"׽:ABA9?JA"׽RAY+@{2οy-P<ٓHK~;? |@#8|?$g???)+@ I٘i)I9)j@YG J<J3<JJJ:F&Kpx> Y(JT~?y XFA2οFZ787 9'B)կBE[[M@[!U~?[Y[[[[BZYY i) D;Ii@== M))Mzo@ز*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039647.483165 s, next control iter: 1743039647.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13146, header.stamp.nsec: 00 temperature: 13.571510* salinity: 33.374989, density: 1025.000000* values[0]: 0.571091F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039647.883165 s.yJ~,<'+AA(@A@AS3V~? AWA &"AA#whNA"AZAbAjArAzAAAvž A&d3sA:j@A;AoA˿A@cA/A9<*A9?2Amֽ:AxBA9?JAmֽRAx٘i)I9j@YG JS<B=JJJJ;F&K YIT~?y`GAFŧ7b7c9)үB[[ȿ[U~?[`[[[[BZYY i) v;Iiv@d>= H))HH|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039647.923165 s, next control iter: 1743039648.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039648.303165 s.VJ~,wg(+AJ"J*J2J:JBJnJvJAQ@Ak&D@AX/V~? A_A7 &"AAphNA"AZAbAjArAzAAABI AzP|8sAq k@AkջA@A ɿA ĺAAA<*A9?2A-ֽ:AuBA9?JA-ֽRAu٘i)I9 k@Y G J<C=JJJJ<F&K YGT~?yinGAFZ7Z7-9)ίB[[ƿ[3U~?[\g[[[[BZYY i) ;Ii@ >= WGD))WGDWGDyO_=Y*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743039648.323165 s, next control iter: 1743039648.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13147*, header.stamp.nsec: 0*0 temperature: 13.571329** salinity: 33.374992*, density: 1025.000000** values[0]: 0.571592*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039648.723165 s. J~,H.(+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074439< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743039648.723302F (some fields omitted in printout)Az@A8.z@A+V~? AgA&"AAkhNA"AZAbAjArAzAAAQĊ3SAw_=sA={k@A?A脽AJyƿAAQA憈<*A$9?2Avֽ:ABA$9?JAvֽRA٘i)I9{k@YQG Jk<B=JJJJ>F&K YFT~?ytrGAF77j79)˯BE[[}Ŀ[U~?[n[[[[BZYY i)  Y^GT~?y zHA( EF)7ŧ79)įB[[$[ U~?[p{[[[[BZYY i) RW% elevatorAngleAction: 0.074439< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743039649.983296F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(@AWt@A$V~? AA&"AA^hNA"AZAbAjArAzAAAAM BAVLsA l@A–;A<AAA@rAE<*A9?2As,׽:A:BA9?JAs,׽RA:٘i)I9l@Y"G J0<JJJJBF&K YIT~?y֌HAF77X9)B[[[[U~?[[[[[BZYY i) c4J6Ai҈UsAm@A ;<AA <A@-{A8|A<*A9?2Av6׽:AABA9?JAv6׽RAA٘i)I9m@YG J<JJJJDF&K YLT~?ykIAF7)79)B[[[+U~?[n[[[[BZYY i/=) T elevatorAngleAction: 0.083586< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743039651.243282F (some fields omitted in printout)Aףp=ʮ@A3333@A="V~? A A&"AAYhNA"AZAbAjArAzAAA0<A8ZsA-n@A=;AcAAKA}A<*A9?2ALֽ:ABA9?JALֽRA٘i)I9-n@YG J(<JJJJFF&K YXNT~?y6IAFŧ7b79)B[[s[U~?[ [[[[BZYY i) cf ?)@ I٘i)I9n@YAG J<JdJJJGF&K#x> YRT~?y毩KJA!F{7{79(B)BE[[G[ U~?[[[[[BZYY i) rBA9?JAfֽRA>٘i)I9+o@YG J<JJJJHF&K YWT~?yJAFj7N 9,B)E[[![U~?[A[[[[BZYY i) ' elevatorAngleAction: 0.083586< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743039652.503268F (some fields omitted in printout)ARk@A7{^@A$V~? AZA&"AA[hNA"AZAbAjArAzAAA;)-AC֯isAZo@A%DAE(AA "?A pA'<*A9?2Ahֽ:ABA9?JAhֽRA٘i)I9o@YG J$<JJJJJF&K Y#\T~?yFKAFŧ7b7"9)B[[a[\U~?[թ[[[[BZYY i) \< cA8nsAp elevatorAngleAction: 0.083586< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743039653.763294F (some fields omitted in printout)A @A@A+V~? AzȪA;&"AAdehNA"AZAbAjArAzAAA@>YA ljxsALVq@A" <AZAOAa?A LAF<*A 9?2A1׽:A},BA 9?JA1׽RA},Y(G@y̓ <ٓH*?c?ɝ@Y?`?]?@Cd??)(G@ I٘i)I9Vq@YG J<J^JJJNF&K]x> YlT~?y$۩GLAF{7Z7y'9)B[[Yp[U~?[c[[[[BZYY i) H elevatorAngleAction: 0.083586< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J dt: 0.420040*J2J2 time: 1743039655.023331F (some fields omitted in printout):JBJnJvJAHz@A8 @Av7V~? AkAf%"AAvhNA"AZAbAjArAzAAA: A"sAs@A+:AzAZCA?A` A3<*A9?2Aֽ:ALBA9?JAֽRALI٘i)I9s@YG J]<JJJJRF&K YT~?yMAF,9)BE[[[V~?[Щ[[[[BZYY i) ߇])+AAq= @ABְ@Ap)+AJ"J*J2J:JBJnJvJA@ABĒ @AAV~? A<AU1%"AA hNA"AZAbAjArAzAAA{< A&ssAct@A,-AAqAz2A?A`%AO<*A9?2Ai2ֽ:A9BA9?JAi2ֽRA9Yr@`yRQAٓH??@('?{?ٵ?%@?)r@ I٘i)I9ct@YG JI<B=JbJJJTF&Kw> Y{T~?yQrNAFb7b7n09/B)BE[[ [V~?[kݩ[[[[BZYY i) 4 elevatorAngleAction: 0.083586< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743039656.283308F (some fields omitted in printout)A(\O@AjTQB@AGV~? AA%"AAhNA"AZAbAjArAzAAAXnfQp AǟMysAu@A*AA#A ?AA:<*A9?2AYֽ:AzBA9?JAYֽRAz٘i)I9u@Y'G J<C=JJJJVF&K YT~?y NAFZ7Z7929)B[[p[V~?[[[[[BZYY i) 'usAu@AgkA+A7䔿A.?ANA<*A9?2Atֽ:ANBA9?JAtֽRAN٘i)I9u@YG J<JJJJWF&K YT~?y]OAF777490B)BE[[_E[ V~?[[[[[BZYY i)  elevatorAngleAction: 0.092509< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743039657.543287F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@A'@A ]V~? AdA%"AAphNA"AZAbAjArAzAAA A2sAw@AL6<A ޱAAv6?AF_AL<*A9?2A׽:ABA9?JA׽RA٘i)I9w@YcG J<JJJJZF&K YT~?y'&HPAFj7Z779)xB[[[/V~?[m[[[[BZYY i) 9 YT~?y.PA F77{7c99)sB[[Ĕ[8V~?[[[[[BZYY i) mBZYY i¸>3Z) Xkֽ:ABAE9?JA>ֽRA٘i)I9y@YG J<JJJJ_F&K YT~?yE(RAFZ7SI7>9)cB[[A[SV~?[[[[[ZZZZBZYY i) d?@? [蛿@`'D?@e:? pK?`{ ~?)3 @ I٘i)I9{@Y+G J=J=JJJbF&K:w> Y U~?yTRAF77j7YB94B)WB)E[[牿[fV~?[[[[[ZZZZBZYY i) = vʌ))vʌvʌ}*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743039660.503165 s, next control iter: 1743039660.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13159, header.stamp.nsec: 00 temperature: 13.567702* salinity: 33.375023, density: 1025.000000* values[0]: 0.580255F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039660.903165 s.J~,9++AJ"J*J2J:J?BJ?nJ5vJAQ@Aȭ@A-V~? AKA;%"AAiNA"AZAbAjArAzAAAZe0D$CA_e%sA}@A%<AwAuAR!?A`A<*AX9?2A_eֽ:A|:BAX9?JA_eֽRA|:٘i)I9}@YG J<JJJJeF&K Y*U~?ycSA F{7E9)LB[[[{V~?[^&[[[[ZZZZBZYY i) JJJiF&Kx> YZU~?y^y+TAf FNK98B)FB3E[[+}[˝V~?[7[[[[ZZZZBZYY io) m YU~?yLfSALFŧ7b7DT9;B)NB=E[[kh[V~?[S[[[[BZYY ie) @z4= R))RRϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039665.143165 s, next control iter: 1743039665.503177 s, wait time: 0.360012 s\U~?)秪 rAdjusting time to match Gazebo time: 1743039665.523165 s.J~,{a,+AAHz@AU@AJGW~? AAA%"AA2jNA"AZAbAjArAzAAAw*ۿAg5ThsAB4|@A;AU=A<A?AHA.*A^9?2Anֽ:A.=BA^9?JAnֽRA.=٘i)I94|@YG JC=JJJJsF&K YU~?y3URAF77{7Y9)[BCE[[Z[mW~?[b[[[[BZYY i) t;Ii@@V3= ))yeӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039665.563165 s, next control iter: 1743039665.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13164, header.stamp.nsec: 00 temperature: 13.567222* salinity: 33.375065, density: 1025.000000* values[0]: 0.580891F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039665.943165 s.J "J *J 2J jdJ~:J?BJ?,]|,+AnJ5vJAq= #@A^)@AXW~? AmA%"AAE!jNA"AZAbAjArAzAAAyl=οAe,sAi{@AXA;1=A.7A?A@Ao*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9{@Y)G JܨJJJJuF&K YV~?yQAF)7ŧ7n[9>B)`BDE[[bV[W~?[g[[[[BZYY i) W;Ii@Ϊ2= /U))/U/UTԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039665.983165 s, next control iter: 1743039666.343186 s, wait time: 0.360021 s rAdjusting time to match Gazebo time: 1743039666.363165 s.%J~,>,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065412< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743039666.363298F (some fields omitted in printout)AY@AL@A:iW~? A}A%"AA:jNA"AZAbAjArAzAAA%­LACsA{@A4A=A1A _?AtA*A79?2A%ֽ:A=BA79?JA%ֽRA=Y6˫@ 2y==5ٓH?{?@y?r1?w@?)6˫@ I٘i)I9{@YG JתJy<JJJvF&K-x> YV~?y%QA 2F7779]9)fBGE[[[Q[#W~?[l[[[[BZYY i) 8%;Ii(@0= ))ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039666.403165 s, next control iter: 1743039666.763177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13165", header.stamp.nsec: 0"0 temperature: 13.567438"* salinity: 33.375076", density: 1025.000000"* values[0]: 0.580282"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039666.783165 s.Y+J~,,+AJ"J*J2J:J?BJ?nJ5vJA(\@A{2Q@AzW~? ApA#%"AAGUjNA"AZAbAjArAzAAAY?AtAz@A^ HAޖ=A,A ?A@L!A맼*A99?2AGֽ:A=BA99?JAGֽRA=٘i)I9z@Y{G JJJJJwF&K Y//V~?yɿ-QAF7{7_9)jB[[+M[2W~?[q[[[[BZYY i) c;Ii@n@/= j))jjϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039666.823165 s, next control iter: 1743039667.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039667.203165 s.3J~,,+AAQŶ@AL@AÌW~? AGAޯ%"AA-pjNA"AZAbAjArAzAAAWTϷN?AV5tAy@AA=A'Ab?A cAW*AI9?2Aֽ:A=BAI9?JAֽRA=٘i)I9y@Y%G JJJJJyF&K YDV~?ymŪPAF7777`9?B)oBJE[[$I[AW~?[v[[[[BZYY i) s';Iiۇ@-= ))̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039667.243165 s, next control iter: 1743039667.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039667.623165 s.J "J *J 2J :J f?BJ f?nJ 5Y9J~vJ,e,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065412< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743039667.623283F (some fields omitted in printout)AG@AL@AW~? AA>%"AAjNA"AZAbAjArAzAAA}}Te?AytAny@A;:A}L=A*t"A@?A@.xA0*A9?2Aoֽ:A`=BA9?JAoֽRA`=٘i)I9ny@YG JJJJJzF&K YZV~?y˪_PAFj7Z7b9@B)tBME[[òD[QW~?[`{[[[[BZYY i)  :Ii@{,= <))<<y~ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039667.663165 s, next control iter: 1743039668.023181 s, wait time: 0.360016 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13166 , header.stamp.nsec: 0 0 temperature: 13.567616 * salinity: 33.375092 , density: 1025.000000 * values[0]: 0.579693 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039668.043165 s.@J~,-+AA= ף0@A!#@AαW~? AA%"AAjNA"AZAbAjArAzAAAV5|?A tA"x@A<AS=ABbAH ?A`U!AҾ*A|9?2AAֽ:Afy=BA|9?JAAֽRAfy=٘i)I9x@YzG JvJJJJ{F&K Y6pV~?yЪOAF)7ŧ7dd9BB){BRE[[=@[aW~?[[[[[BZYY i) xi::IiK@I+= @ =))@ =@ = ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039668.083165 s, next control iter: 1743039668.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039668.463165 s.VGJ~,-+AJ"J*J2J:JR?BJR?nJ5vJAfffff@A*]Y@AW~? AA{c%"AAMjNA"AZAbAjArAzAAA f?Au XtA>Wx@AlK<A&=Ab7AI`?Aڐ߿A*A9?2A Iֽ:A}=BA9?JA IֽRA}=Y @&yY=NpL<ٓH@u??@?D?s \`b~?`?) @ I٘i)I9Wx@Y&G JHB=JGdJJJ}F&Kx> YV~?yժOA!Fb7b7/f9)B[[[;[qW~?[[[[[BZYY i) xqIi@)= S=))S=S=HªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039668.503165 s, next control iter: 1743039668.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13167, header.stamp.nsec: 00 temperature: 13.567796* salinity: 33.375084, density: 1025.000000* values[0]: 0.579084F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039668.883165 s.yMJ~,48-+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065412< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743039668.883290F (some fields omitted in printout)A(@A}"@ALW~? A{ëAI%"AAsjNA"AZAbAjArAzAAA'뽽?AcwtAw@Az <Ah<=AA@?A`g޿A*A9?2A!ֽ:A\<BA9?JA!ֽRA\<٘i)I9w@YG JRJJJJ~F&K YV~?yڪ;OA"Fŧ7g9)BUE[[]7[W~?[A[[[[BZYY i) rIiM@(= =))==YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039668.923165 s, next control iter: 1743039669.283176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039669.303165 s.VTJ~,wgS-+AJ"J*J2J:J*?BJ*?nJ]5vJAѷ@AOķ@AW~? AȫA|%"AA"jNA"AZAbAjArAzAAA4pI?ABtAOw@A?)>9A·=AΒ A?A j޿Al*A?9?2AJֽ:A:<BA?9?JAJֽRA:<٘i)I9Ow@YG J$C=JJJJF&K YsV~?y}ߪNA#F77i9CB)BXE[[[2[ԒW~?[[[[[BZYY i)  Ii@܂&= L=))L=L=;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039669.323165 s, next control iter: 1743039669.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13168*, header.stamp.nsec: 0*0 temperature: 13.567958** salinity: 33.375099*, density: 1025.000000** values[0]: 0.578510*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039669.723165 s.[J~,Hn-+AAz@AD/@A2X~? AͫA%,%"AAYkNA"AZAbAjArAzAAAo8?AtA7v@AAA0ۅ=A7A`Q?A`ݿA"錼*Ag9?2AH׽:Am<BAg9?JAH׽RAm<٘i)I9v@Y;G JJJJJF&K YV~?yk~NA%Fb77k9)B[[3j.[W~?[[[[[BZYY i)  Y/V~?yMA'F77$o9DB)B^E[[Ct%[W~?[[[[[BZYY i!) WVIi|@+!= `n>))`n>`n>0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039670.583165 s, next control iter: 1743039670.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13169, header.stamp.nsec: 00 temperature: 13.568098* salinity: 33.375103, density: 1025.000000* values[0]: 0.578027F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039670.983165 s.oJ~,-+AJ"J*J2J:J?BJ?nJ)5vJA\@A#뛸@A>X~? AoܫA: %"AA{kNA"AZAbAjArAzAAA&))` >` >5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039671.003165 s, next control iter: 1743039671.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039671.403165 s.&vJ~,-+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076725< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743039671.403271F (some fields omitted in printout)AQ޸@AĬѸ@ASX~? AA %"AA4kNA"AZAbAjArAzAAA@A$#tAu@A";A=AAAr?AOڿA_*AP9?2Aoֽ:A<BAP9?JAoֽRA<I٘i)I9u@Y&G JJJJJF&K Y/W~?yMA*Fj7j7r9)B[[ku[W~?[¢[[[[BZYY i) Iiw@."= i2>))i2>i2>YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743039671.423165 s, next control iter: 1743039671.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13170", header.stamp.nsec: 0"0 temperature: 13.568218"* salinity: 33.375114", density: 1025.000000"* values[0]: 0.577570"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039671.823165 s.|J~,)-+AJ"J*J2J:JBJnJvJAGz@AԘs@AiX~? A~AyW%"AAջkNA"AZAbAjArAzAAAԽ @Aja&tAt@AqE<A=A3ݾA?A`ٿĂ*A9?2AVֽ:A?=BA9?JAVֽRA?=٘i)I9t@YG J;B=JJJJF&K YHW~?yLA+F77t9)BeE[[[W~?[[[[[BZYY i) f8Iit@ƞ= D>))D>D>y/5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039671.863165 s, next control iter: 1743039672.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039672.243165 s.J~,u.+AAףp=J@A-?2=@AX~? AA%"AAkNA"AZAbAjArAzAAAQ @AIW)tA,t@A7<AI$=A4ҾA`?AWؿA))V>V>KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039672.283165 s, next control iter: 1743039672.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039672.663165 s.J~,q*.+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076725< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743039672.663309F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13171, header.stamp.nsec: 00 temperature: 13.568314* salinity: 33.375114, density: 1025.000000* values[0]: 0.577133F (some fields omitted in printout)A@Awr@AەX~? AA`%"AAhkNA"AZAbAjArAzAAAv: @Al:+tAs@A;A6=A+ǾA@k6?A@׿A"*A9?2Aqֽ:A>=BA9?JAqֽRA>=YԐ@BǾy6=So;ٓH?m[? 7]?kIؿr?㰿cr??)Ԑ@ I٘i)I9s@YXG JJ;JJJF&K:x> Y{W~?y LAǾ.Fb77x9)BkE[[["X~?[J[[[[BZYY i) {Iin@&= h>))h>h>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039672.683165 s, next control iter: 1743039673.063184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743039673.083165 s.DJ~, SE.+AA)\µ@Azܷ@AbX~? A A]%"AAS lNA"AZAbAjArAzAAA-< ]@A .tA`Ms@AAVlj=A4)At?A@" ׿A!*A9?2A+׽:A4=BA9?JA+׽RA4=٘i)I9Ms@YG JoJJJJF&K YW~?yKA/Fŧ7b7y9HB)BnE[[GZ [5X~?[[[[[BZYY i) =/Iik@= Pz>))Pz>Pz>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039673.123165 s, next control iter: 1743039673.483180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039673.503165 s.J~,P4`.+AJ"J*J2J:JBJnJvJAR@A_{޹@A,X~? AAZ%"AABlNA"AZAbAjArAzAAATB@A2[k0tAr@A;7A=AAK?Ak4ֿAa*A9?2Av*׽:A$=BA9?JAv*׽RA$=٘i)I9r@YG JqB=JJJJF&K Y3W~?y3VKA1FZ7Z7{9)BqE[[[ IX~?[|[[[[BZYY i) >Iih@^= >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039673.543165 s, next control iter: 1743039673.903181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13172, header.stamp.nsec: 00 temperature: 13.568407* salinity: 33.375134, density: 1025.000000* values[0]: 0.576680F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039673.923165 s.8J~,{.+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076725< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743039673.923314F (some fields omitted in printout)A{G!@AK?@A7X~? AA%"AA]elNA"AZAbAjArAzAAAxVZ@A U2tArlr@ABA=AA?AZտA5*A9?2A׽:AU=BA9?JA׽RAU=٘i)I9lr@YG JOC=JJJJF&K YSW~?y JA2F{7{7z}9)B[[8[\X~?[[[[[BZYY i) 9:NIie@!= X>))X>X>ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039673.943165 s, next control iter: 1743039674.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039674.343165 s.))aޘ>aޘ>TʪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743039674.363165 s, next control iter: 1743039674.743175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13173*, header.stamp.nsec: 0*0 temperature: 13.568542** salinity: 33.375149*, density: 1025.000000** values[0]: 0.576225*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039674.763165 s.6J~,ذ.+AǍ@A@A Y~? AA8%"AAlNA"AZAbAjArAzAAAQ3rJƑ@AKl7tAxq@A *;A=AœA0Q?AӿA*A9?2Awֽ:A =BA9?JAwֽRA =YѸ@ڬy=Z+;ٓH?X7? ñ?'ҿ@"?m\e?`?)Ѹ@ I٘i)I9xq@YG JJq<JJJF&Kw> YW~?yg;JA5F)7b79JB)BxE[[([X~?[[[[[BZYY i) SlIi_@]= >))t>>DΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039674.783165 s, next control iter: 1743039675.163175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039675.183165 s.˲J~,c.+AJ"JvPublished command to Gazebo (printed only once in a while):*J2J( dropWeightState: 1:JBJ8 propOmegaAction: 25.132812nJ< rudderAngleAction: -0.252838vJ@ elevatorAngleAction: -0.076725< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743039675.183271F (some fields omitted in printout)A(\º@Ax҆@A Y~? AA`%"AAlNA"AZAbAjArAzAAA'8@Aiҡ 9tA:p@A&<A#U=AɤA n?A ҿA?*A9?2A?ֽ:A[l=BA9?JA?ֽRA[l=٘i)I9p@YG JB=JJJJF&K YX~?yIA6F77{7ڂ9KB)ïB{E[[u[ۘX~?[ª[[[[BZYY i) -|Ii[@ = A>)) A>A>ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039675.203165 s, next control iter: 1743039675.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039675.603165 s.=4J~,Ț.+AAQ@AzF@A8Y~? A7A%"AAlNA"AZAbAjArAzAAAӠ@A^":tAhp@A7K<A+=Ak~A?A`ѿA&*A9?2A2mս:A=BA9?JA2mսRA=٘i)I9hp@YQG JǤC=JJJJF&K Y5X~?yjrIA8FZ7Z79)ȯB~E[[=ݾ[gX~?[Ū[[[[BZYY i) eIiX@ʥ = yT>))yT>yT>0ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039675.643165 s, next control iter: 1743039676.003180 s, wait time: 0.360015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13174 , header.stamp.nsec: 0 0 temperature: 13.568661 * salinity: 33.375160 , density: 1025.000000 * values[0]: 0.575707 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039676.023165 s.ZJ~,{/+AJ"J*J2J:JBJnJvJAHz.@Ak !@APY~? A9 Az%"AA2mNA"AZAbAjArAzAAABv@A;A))q>q>֪YBYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039676.043165 s, next control iter: 1743039676.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039676.443165 s.8J~,B]/+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743039676.443296F (some fields omitted in printout)Aq= c@AJV@A%iY~? A A^A%"AAtAMo@AչA=ATA@ ?A))Y>Y>תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039676.463165 s, next control iter: 1743039676.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13175, header.stamp.nsec: 00 temperature: 13.568807* salinity: 33.375168, density: 1025.000000* values[0]: 0.575111F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039676.863165 s.+J~,>7/+AJ"J*J2J:J:?BJ:?nJa5vJA@A@AY~? AA %"AAamNA"AZAbAjArAzAAAr6I@ACC F1@tAn@AxAFH=A5?A4?A@sοAXi*AZ9?2Aֽ:Ag=BAZ9?JAֽRAg=Y @=?yF=9ٓH X?@? ճ?`ǿKq?@(w@ó@΁ YX~?y>HA?<Fŧ7b79)կBE[[u¾[]X~?["Ϊ[[[[BZYY i) ZIiN@q= A>))F~A>A>٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039676.903165 s, next control iter: 1743039677.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039677.283165 s.1RJ~,R/+AA(\ϻ@A Q»@AYY~? ASA%"AA1mNA"AZAbAjArAzAAA6\!qt@AqAtA6n@AJA}=AW*A@Z?AB̿A֦*A9?2Atֽ:Ar=BA9?JAtֽRAr=٘i)I96n@YG JC=JJJJF&K YGX~?yGA=F77ϋ9)گBE[[ĸ[Y~?[Ъ[[[[BZYY i) dԣIiK@= ![>)) ![>![>yzܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039677.323165 s, next control iter: 1743039677.683174 s, wait time: 0.360009 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13176., header.stamp.nsec: 0.0 temperature: 13.568943.* salinity: 33.375195., density: 1025.000000.* values[0]: 0.574551.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039677.703165 s.ҺJ~,m/+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743039677.703268F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A4D@A3Y~? AAd%"AAmNA"AZAbAjArAzAAA+kDҡ@An3CtAm@ALA爣=AA?AʿA@*A9?2A ]ս:A.N=BA9?JA ]սRA.N=٘i)I9m@YG J٨JJJJF&K YX~?yW jGA>F779LB)ޯBE[[p[LY~?[/Ӫ[[[[BZYY i) OIiG@gk< >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039677.743165 s, next control iter: 1743039678.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039678.123165 s.3J~,L/+AAG:@A-@A3Y~? AA)z%"AA}mNA"AZAbAjArAzAAAG@Ag.DtAFm@A`{޺Ar=AA@?A`ɿA1*A9?2A=ս:A=BA9?JA=սRA=٘i)I9m@YKG JJJJJF&K YX~?y!GA@FZ7SI7d9)BE[[[,-Y~?[ժ[[[[BZYY i) 4ʲIimD@l< ->))->->YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039678.143165 s, next control iter: 1743039678.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039678.543165 s.IJ~,â/+AJ"J*J2J:JBJnJvJA= ףp@A:̗c@AUY~? AAO%"AAwmNA"AZAbAjArAzAAAcrں@AsEtAzl@A.;AY=A7ܽA ?A5ǿA*A9?2A ս:A=BA9?JA սRA=٘i)I9zl@YG JJJJJF&K Y{X~?y#FAAF77{7/9)BE[[[KCY~?[ת[[[[BZYY i) 1EIiA@< 1|>))1|>1|>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039678.563165 s, next control iter: 1743039678.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13177, header.stamp.nsec: 00 temperature: 13.569105* salinity: 33.375225, density: 1025.000000* values[0]: 0.573964F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039678.963165 s.tJ~,ߤ/+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743039678.963278F (some fields omitted in printout)Affff@A.R\@AY~? AA(%"AAnNA"AZAbAjArAzAAA%5{,4@A2GtAxk@AG<Aث=A⳽A?AcſADü*A09?2A8ս:A=BA09?JA8սRA=YE@ȱyԫ=H<ٓHq?t?t??D@$t??)E@ I٘i)I9k@YG JJ<JJJF&K3u> YY~?yb$"FAȱBFb779TB)BE[[9Q[MYY~?[٪[[[[BZYY i) Ii9=@l5< }>))z}>}>$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039679.003165 s, next control iter: 1743039679.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039679.383165 s.J~,/+AJ"J*J2J:J?BJ?nJ5vJA(ܼ@APOϼ@AZ~? AA%"AAEnNA"AZAbAjArAzAAA(3 @AaHtAk3k@A2<A%=A{A~?A ÿAqǼ*A9?2Aս:A'{=BA9?JAսRA'{=٘i)I93k@Y%G JżJJJJF&K Y.Y~?y%%EADF87SI7Ĕ9)B[[퉾[oY~?[۪[[[[BZYY i) RȼIi$9@N< ?)) ??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039679.423165 s, next control iter: 1743039679.783175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13178&, header.stamp.nsec: 0&0 temperature: 13.569278&* salinity: 33.375210&, density: 1025.000000&* values[0]: 0.573285&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039679.803165 s.zAJ~,g/+AA@A%@Av1Z~? AOA%"AAknNA"AZAbAjArAzAAAQa @A˜ItAj@A~;Aگ=A?A ?A}A$ɼ*A'9?2AԽ:A=BA'9?JAԽRA=٘i)I9j@YG JȼJJJJF&K YJY~?y%;EAEF77j79)BE[[y[#Y~?[ݪ[[[[BZYY i) +мIiq5@?< ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039679.823165 s, next control iter: 1743039680.203179 s, wait time: 0.380014 sJY~?)% rAdjusting time to match Gazebo time: 1743039680.223165 s.gJ~,H0+AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743039680.223291F (some fields omitted in printout)AzG@A @:@AKZ~? AA%"AA@nNA"AZAbAjArAzAAAtUi!@AanItAi@ANZA=AּA #?AAɼ*A9?2A(ս:A3=BA9?JA(սRA3=٘i)I9i@YXG JɼJJJJF&K YfY~?y&DAFF77Z9SB)BE[[ m[Y~?[ߪ[[[[BZYY i) qw׼Ii$2@9<  ?)) ? ?YC(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039680.263165 s, next control iter: 1743039680.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039680.643165 s.w J~, *)0+AA ףp}@Adp@AdZ~? A!A%"AAnNA"AZAbAjArAzAAA@s"@Az JtA7i@A;A|=AAvA@5?A<ѻAV˼*A޳9?2Aս:A=BA޳9?JAսRA=٘i)I97i@Y G JeʼJJJJF&K YY~?yo'UDAHF{7{7$9) BE[[[Z[Y~?["[[[[BZYY i) ޼Ii;/@K< \?))\?\?tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13179, header.stamp.nsec: 00 temperature: 13.569478* salinity: 33.375240, density: 1025.000000* values[0]: 0.572594YF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743039680.663165 s, next control iter: 1743039681.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039681.063165 s.J~,R D0+AJ"J*J2J:JBJnJvJA3333@A_`V(@A~~Z~? A&"Ae%"AAnNA"AZAbAjArAzAAANP"@A_v~gKtArh@A?AoC=A3p<AE?AAmϼ*A9?2Aս:A{=BA9?JAսRA{=Y^|@+_@=@ٓH.??Nɋ??P?@v`?)^|@ I٘i)I9h@Y G JͼJi3<JJJF&Kt> Y:Y~?yP'CA+_<IF779)BE[[G[Y~?[[[[[BZYY i) Ii*@\< ?))w??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039681.083165 s, next control iter: 1743039681.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039681.483165 s.w_J~,^0+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241790@ elevatorAngleAction: -0.086206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743039681.483287F (some fields omitted in printout)A\@A`5۽@APZ~? A#A~%"AA%oNA"AZAbAjArAzAAAu3>#@AJKtAg@A)Ar۶=A =A`S?A@gXAռ*A`9?2Aս:A(=BA`9?JAսRA(=٘i)I9g@Y G J%ҼJJJJF&K YmY~?y1'aCAJF7)79)BE[[4[Y~?[[[[[ZZ¸BZYY i¸=) ټIiY&@< (?))~(?(?>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039681.523165 s, next control iter: 1743039681.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13180, header.stamp.nsec: 00 temperature: 13.569684* salinity: 33.375221, density: 1025.000000* values[0]: 0.571866F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039681.903165 s.J~,y0+AJ"J*J2J:Je?BJe?nJ5vJAQ@Aa@A2Z~? A#Am%"AAR.oNA"AZAbAjArAzAAAUk##@A}gyLtA$g@ASN;A=Ae#[=Aa?A@zA ݼ*A9?2Aӽ:AnN=BA9?JAӽRAnN=٘i)I9$g@Y G JټJJJJF&K YY~?y'BALF779)BE[[[![DY~?[2[[[[ZZBZYY i)  ͼIi"@ < D ?)) D ?D ?>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039681.943165 s, next control iter: 1743039682.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039682.323165 s.t$J~,0+AAGzT@ACr2qG@AZ~? A$A_%"AAUoNA"AZAbAjArAzAAAHN5Wx$@AILtAVf@A.*<Ay=A=A@g?AnAO*A9?2Aӽ:As=BA9?JAӽRAs=٘i)I9Vf@Y0 G JJJJJF&K YY~?y&nBAMF777O9RB) BE[[X[Z~?[K[[[[ZZBZYY i) Ii @7< y%?))y%?y%?Y…YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039682.363165 s, next control iter: 1743039682.723178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13181&, header.stamp.nsec: 0&0 temperature: 13.569906&* salinity: 33.375248&, density: 1025.000000&* values[0]: 0.571105&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039682.743165 s.(W+J~J,0+A"J*J2J:J3?BJ3?nJN5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082794< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200662 time: 1743039682.743357F (some fields omitted in printout)Aףp=@A4}@AZ~? A%AuT%"AA|oNA"AZAbAjArAzAAA5%@AF.c&MtAre@AE<AF=AV=Am?An[A*A9?2AUԽ:A6<BA9?JAUԽRA6<٘i)I9re@Y G JJJJJF&K YZ~?y&AANFS779)&BE[[v[(Z~?[C[[[[ZZBZYY i) [µIi@ި< T*?))T*?T*?yi=ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039682.783165 s, next control iter: 1743039683.143182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743039683.163165 s.s}2J~,q0+AA@AM@A [~? AV%A~L%"AA8oNA"AZAbAjArAzAAAV4%@Af\XMtAd@Ao;Aw=Au`=As?AĕA'*A9?2A Խ:A%p<BA9?JA ԽRA%p Y,Z~?y%AAC=PFj7SI7夳9)-B[[[Ͻ[=@Z~?[[[[[ZZBZYY i) q}Ii7@*< z$/?))Suz$/?z$/?lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039683.183165 s, next control iter: 1743039683.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039683.583165 s.8J~,S0+AJ"J*J2J:JBJnJvJA)\@A5@A [~? A~%AG%"AAoNA"AZAbAjArAzAAAwP&@AOKqMtAc@AHA2=A>A@v?A zAѼ*A$9?2AQս:A;BA$9?JAQսRA;٘i)I9c@Y G J/JJJJF&K Y0HZ~?y$NAAQFb779)3BE[[[XZ~?[[[[[ZZBZYY i) b8Ii@;< 3?))٢3?3?zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039683.603165 s, next control iter: 1743039683.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13182, header.stamp.nsec: 00 temperature: 13.570183* salinity: 33.375263, density: 1025.000000* values[0]: 0.570155F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039684.003165 s.x @J~,L41+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.259055> elevatorAngleAction: 0.082794< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743039684.003318F (some fields omitted in printout)AR+@Aog_y@A 4[~? A{%AF%"AAoNA"AZAbAjArAzAAAVߍ&@AE°oMtA2c@Aƫ'A <AR>A Lz?A?ANԧ*Ac :?2A.ӽ:AtBAc :?JA.ӽRAt٘i)I92c@YF G JJJJJF&K YEdZ~?y#@ARFb7z9QB)8BE[[s['pZ~?[O[[[[ZZBZYY i) Ii@>߶< d8?)) d8?d8?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039684.023165 s, next control iter: 1743039684.403176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039684.423165 s.uFJ~,1+AJ"J*J2J:JBJnJvJA{Ga@AlA fy?A?Al}*A :?2ACӽ:Aa!BA :?JACӽRAa!٘i)I9b@Y G JJJJJF&K YZZ~?y"@ATF77{7E9);BE[[)4[kZ~?[[[[[ZZBZYY i) >IiL @M< @=?))@=?@=??qYAYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039684.443165 s, next control iter: 1743039684.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13183, header.stamp.nsec: 00 temperature: 13.570368* salinity: 33.375275, density: 1025.000000* values[0]: 0.569424F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039684.843165 s.LJ~,51+AAp= @AT2@Ah[~? A$AlL%"AAApNA"AZAbAjArAzAAAg6|*(@A/\!MtAVb@A:u$A-ĻAƔE>Atu?A:?Am30*A:?2A,Խ:AWBA:?JA,ԽRAW٘i)I9Vb@Y G J]JJJJF&K YoZ~?y!U@AUFj7j79PB)>BE[[ɼ[ڠZ~?[[[[[ZZBZYY i) zIi$@B< B?))B?B?(YFFF]Waiting for Gazebo time sync: latest Gz time: 1743039684.863165 s, next control iter: 1743039685.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039685.263165 s.J "J *J 2J :J ?BJ ?nJ 5vJ %TJ~,ZP1+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082794< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743039685.263305F (some fields omitted in printout)A̿@Aj0 ÿ@A[~? A~$A=T%"AAJipNA"AZAbAjArAzAAA (@AKLtAb@ANȺAAbPZ>An?A`ɹ?ADл*A9?2AԽ:ABA9?JAԽRAY@XZ>yXȺٓHD?<˿ ?F?g_? Y@I?)@ I٘i)I9b@Y G J|JEJJJF&KOs> YZ~?yq@AXZ>VFZ7Z7ڭ9)?BE[[^[Z~?[[[[[ZZBZYY in=) WhIiF@< G?))sG?G?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039685.283165 s, next control iter: 1743039685.663189 s, wait time: 0.380024 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13184., header.stamp.nsec: 0.0 temperature: 13.570436.* salinity: 33.375282., density: 1025.000000.* values[0]: 0.569109.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039685.683165 s.lZJ~,ck1+AA(\@A @A[~? A#A9_%"AApNA"AZAbAjArAzAAAcd)@AMnLtAa@A;A AN`o>A`d?A$?A *Ah9?2AQnս:AHѼBAh9?JAQnսRAHѼ٘i)I9a@Y G J4JJJJF&K YZ~?y@AXF9OB)@BE[[QMb<[uZ~?[[[[[BZYY iFs=) VIi?R< L?))[惾L?L?t6*YFFF]r:Waiting for Gazebo time sync: latest Gz time: 1743039685.683165 s, next control iter: 1743039686.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743039686.103165 s.aJ~,1+AJ"J*J2J:J?BJ?nJ5vJAQ8@A)QG+@A[~? A#A|m%"AApNA"AZAbAjArAzAAAof3*@AsKtAa@ApJ<A֎6A >A[?A@/?A+?;*An:?2AIӽ:ABAn:?JAIӽRA缙٘i)I9a@Y G JX19JJJJF&K YoZ~?y?@AYFb7b7o9)[[P=[Z~?[[[[[BZYY i) DIi?t!< Q?)) Q?Q?t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039686.123165 s, next control iter: 1743039686.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039686.523165 s.gJ~,{1+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069068< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743039686.523303F (some fields omitted in printout)AHzn@Ada@A[~? A "A~%"AA0pNA"AZAbAjArAzAAA_^bО*@AvUKtAqb@Al,<AM\[Aߋ>AwM?A˺?A ;*A:?2Aӽ:ABA:?JAӽRA٘i)I9b@Y G J;JJJJF&K Y [~?ya@AZF7{7:9)>BE[[X=[[~?[[[[[BZYY i) Kp2Ii]1+AJ"J*J2J:JBJnJvJAq= ף@AUQʖ@A[~? A Ab%"AAVqNA"AZAbAjArAzAAAۖ85;+@A.ɣJtAXb@AFC;AyAϕ>A@,=?AS?AM2<*AY:?2Aӽ:ABAY:?JAӽRAI٘i)I9Xb@Y G JX<JJJJF&K Y&[~?y@A\Fj7Z79NB)1+AA@AK̳@AI\~? AA%"AA`-qNA"AZAbAjArAzAAA%+@A(UItAb@A{ͻAA͟>A@A*?A?Aj<*A9?2A+Խ:Az0BA9?JA+ԽRAz0YN=>y7ͻٓHa?ӿcưd? t?`>֍?@ny?)N= I٘i)I9b@Y G JxL<B=JJJJF&Kr> YA[~?y=AA>]F777ж9)8BƹE[[=[94[~?[m[[[[BZYY i:f=) _Ii?k< >`?))s>`?>`?˹*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039687.383165 s, next control iter: 1743039687.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13186&, header.stamp.nsec: 0&0 temperature: 13.570124&* salinity: 33.375332&, density: 1025.000000&* values[0]: 0.569457&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039687.783165 s.W{J~,1+AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237400> elevatorAngleAction: 0.056175< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743039687.783297F (some fields omitted in printout)A(\@AQۆQ@A\~? A)At%"AAKTqNA"AZAbAjArAzAAA 植r,@ACgvHtAGc@AJAA>A`?A ?A<*Aj9?2AԽ:A!BAj9?JAԽRA!٘i)I9c@Y7 G JD<C=JJJJF&K Y\[~?yAA^Fŧ7b79MB)4BɹE[[Z=[L[~?[[[[[BZYY i) EIi?U< e?))򠃾e?e?n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039687.823165 s, next control iter: 1743039688.183179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039688.203165 s.J~, 2+AAQE@AƠ8@As6\~? AA6%"AA{qNA"AZAbAjArAzAAAAZ?A7?A<*A:?2Aҽ:AþBA:?JAҽRAþ٘i)I9c@Y G J<JJJJF&K Yjw[~?ybAA`F77{7e9)0B̹E[[>[e[~?[[[[[BZYY i) +zIi?M< |j?)) |j?|j?e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039688.243165 s, next control iter: 1743039688.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039688.623165 s.YJ~,e'2+AJ"J*J2J:JBJnJvJAGz@Akam@AO\~? AA%"AAqNA"AZAbAjArAzAAAJ&蘧-@AtUFtA6"d@A)AAZ>A`?Ai?A~<*A5,:?2AGZӽ:ABA5,:?JAGZӽRA٘i)I9"d@Y G Jx<JJJJF&K YM[~?y QBAaF7709JB)(BιE[[=>[~[~?[[[[[BZYY i) mhĻIi?;|< *o?))*o?*o?yNbf=|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039688.643165 s, next control iter: 1743039689.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13187 , header.stamp.nsec: 0 0 temperature: 13.569771 * salinity: 33.375343 , density: 1025.000000 * values[0]: 0.570070 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039689.043165 s.J~,B2+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056175< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743039689.043291F (some fields omitted in printout)A= ף@A@A4i\~? AA(%"AA/qNA"AZAbAjArAzAAAe8 A.@AEtAd@A;ASA<>A?A3Z?A<*A1:?2AKԽ:A3 BA1:?JAKԽRA3 ٘i)I9d@Y/ G J<JJJJF&K Y.[~?y BAbFj7j79)$B[[%/>[[~?[Q[[[[BZYY i$=) XIi?3t< t?))t?t? *Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039689.063165 s, next control iter: 1743039689.443185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743039689.463165 s.WJ~,]2+AJ"J*J2J:J ?BJ ?nJ!5vJAffff@A[@Ae\~? AAN%"AAyqNA"AZAbAjArAzAAAg.@A]#tDtABe@A]$9<AA>AV?A7,?A$<*AT6:?2A>ս:AթBAT6:?JA>սRAթYE>>y$9<ٓH I٘i)I9Be@Y G J<JНJJJF&Ks> Y [~?yqCA>dF{7ſ9IB)BѹE[[UC>[Z[~?[[[[[BZYY i) j*IiM?h<  z?))r z? z?Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039689.503165 s, next control iter: 1743039689.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13188, header.stamp.nsec: 00 temperature: 13.569366* salinity: 33.375355, density: 1025.000000* values[0]: 0.570825F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039689.883165 s.yJ~,8x2+AA(@A8G@At\~? AA y%"AArNA"AZAbAjArAzAAAO[q/@A}c4CtAe@AN<AeA>A`?A@?AFK<*Aa6:?2Ahս:AO`BAa6:?JAhսRAO`٘i)I9e@Y G J<JJJJF&K Y[~?y{CAeF)7b79HB)BԹE[[ecX>[[~?[T[[[[BZYY i) QIiR?\< (?))o(?(?i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039689.903165 s, next control iter: 1743039690.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039690.303165 s.VJ~,wg2+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.257091> elevatorAngleAction: 0.065500< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743039690.303314F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Aw*D@A\\~? A!A:%"AAp:rNA"AZAbAjArAzAAA%cl0@A$AtA`f@A;>;A$A>AVg?Am?A<*AW:?2A"ӽ:AUBAW:?JA"ӽRAU٘i)I9`f@Y6 G J4<JJJJF&K Y[~?ycCAfF77Zó9GB)B׹E[[ m>[[~?[ߪ[[[[BZYY i) Ii/?>(R< )?)) )?)? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039690.323165 s, next control iter: 1743039690.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13189*, header.stamp.nsec: 0*0 temperature: 13.568958** salinity: 33.375366*, density: 1025.000000** values[0]: 0.571610*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039690.723165 s.J~,H2+AAz@A~z@A\~? AAs%"AA`rNA"AZAbAjArAzAAA.zO0@Ay@tAf@AAᲒA>A yC?A`r?A[,<*A^:?2AYӽ:ASBA^:?JAYӽRAS٘i)I9f@Y G J<JJJJF&K Y\~?yIDAhF777%ų9FB)BڹE[['>[[~?[ݪ[[[[BZYY i) Ii? H< „?))„?„?y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039690.743165 s, next control iter: 1743039691.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039691.143165 s.[/J~,*2+AJ"J*J2J:Jm?BJm?nJ5vJA ףp@Anf@A\~? A A %"AArNA"AZAbAjArAzAAA 0@A8Vi>tA|g@A`"AOAi>A?A`(?AS%<*A^:?2Aӽ:A BA^:?JAӽRA ٘i)I9|g@Y G JШ<JJJJF&K Y.\~?yUDAiFƳ9) B[[c>[\~?[۪[[[[BZYY i) DIi{?K@< `?))`?`?z*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039691.163165 s, next control iter: 1743039691.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039691.563165 s.J~,A 2+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065500< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743039691.563288F (some fields omitted in printout)A3333@A)"*@A"\~? A A?%"AArNA"AZAbAjArAzAAA Z20@AF27 ?y R/RٓH?L߿F???I?)> I٘i)I9h@Y8 G J<Jh<JJJF&Kr> Y(G\~?yEA ?jFj7Z7ȳ9)BݹE[[w>[r,\~?[\٪[[[[BZYY i) g:Ii?B4< ?))Xs??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039691.603165 s, next control iter: 1743039691.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13190, header.stamp.nsec: 00 temperature: 13.568576* salinity: 33.375374, density: 1025.000000* values[0]: 0.572353F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039691.983165 s.J~,2+AJ"J*J2J:JBJnJvJA\(@Aq@A^]~? AAx%"AArNA"AZAbAjArAzAAARđ-1@Abf:tAh@AeAxA?A?A?A<*AZ:?2AQ$ս:A4BAZ:?JAQ$սRA4٘i)I9h@Y G Jڡ<JJJJF&K Y_\~?ynEAlFb77ʳ9EB)BE[[?2>[E\~?[֪[[[[BZYY i) ܼ:Ii΃?0(< }?)) }?}?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039692.023165 s, next control iter: 1743039692.383189 s, wait time: 0.360024 s rAdjusting time to match Gazebo time: 1743039692.403165 s.&J~,3+AAQ^@A5lQ@Ah.]~? AA%"AA'rNA"AZAbAjArAzAAAo9`qv1@Ax+8tA^i@Aγ¹A"8A.V ?A?AZ?A<*A*y:?2Aӽ:A)|BA*y:?JAӽRA)|٘i)I9i@Y G J<JJJJF&K Yfx\~?ydEAmF777P̳9[]\~?[cԪ[[[[BZYY i) ;Iiw?+h< 6?)) 6?6?d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039692.443165 s, next control iter: 1743039692.803178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13191", header.stamp.nsec: 0"0 temperature: 13.568222"* salinity: 33.375393", density: 1025.000000"* values[0]: 0.573107"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039692.823165 s.J~,:43+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065500< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743039692.823316F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@Amp@A=F]~? AA%"AAssNA"AZAbAjArAzAAA*:1@AR16tAki@Ao <AOA?Ag?A k?Af<*A}:?2AK/Խ:ABA}:?JAK/ԽRA򼙘٘i)I9i@Y%G Jt<JJJJF&K Y\~?y,FAnFb77γ9)BE[[Y>[jv\~?[Ѫ[[[[BZYY i) Y;Ii&i?O7< gޑ?))gޑ?gޑ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039692.863165 s, next control iter: 1743039693.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039693.243165 s.J~,iO3+AAףp=@A(1@A]]~? AAc5%"AAm[\~?[Ϊ[[[[BZYY i=) ;Ii\?d( < &?))&?&?+*Y]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039693.263165 s, next control iter: 1743039693.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039693.663165 s.J~,qj3+AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13192, header.stamp.nsec: 00 temperature: 13.567859* salinity: 33.375431, density: 1025.000000* values[0]: 0.573740F (some fields omitted in printout)A@AI@AAu]~? AAz%"AA`sNA"AZAbAjArAzAAAw4O;M2@A5\2tA|uj@AT+<AA?A?AAZ?A<*A[\~?[˪[[[[BZYY i) ;IiQ?g<<  :?)) :? :?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039693.683165 s, next control iter: 1743039694.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039694.083165 s.DJ~,S3+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074279< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743039694.083293F (some fields omitted in printout)A)\5@Aȳ˷(@Ai]~? AA%"AA_sNA"AZAbAjArAzAAA'3yr2@A`N0tAj@A$(;AރA!?A ?A.?A!<*ARo:?2AZoս:A,BARo:?JAZoսRA,٘i)I9j@YG J<JJJJF&K Y\~?y"۪IGAsF77{7zӳ9:B)BE[[ו>["\~?[MȪ[[[[BZYY i) Pd;IiH?$v< c?))c?c?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039694.103165 s, next control iter: 1743039694.483178 s, wait time: 0.380013 s.\~?)."۪ rAdjusting time to match Gazebo time: 1743039694.503165 s.J~,743+AJ"J*J2J:J?BJ?nJ5vJARk@A{^@AS]~? AA %"AAMsNA"AZAbAjArAzAAA/2@AAO-tAXk@AdۻA󌄽A&?A ?A4?A^<*Ang:?2Aս:ABAng:?JAսRA٘i)I9Xk@Y<G J<JJJJF&K Y\~?y֪GAtF7Eճ99B)ޯBE[[m>[~\~?[Ī[[[[BZYY i) :;IiA?; l?))l?l?yM =}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039694.543165 s, next control iter: 1743039694.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13193, header.stamp.nsec: 00 temperature: 13.567531* salinity: 33.375423, density: 1025.000000* values[0]: 0.574363F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039694.923165 s.:J~,3+AA{G@A<@A]~? AAX%"AAsNA"AZAbAjArAzAAA3@Aa{+tAhk@AKAʮA,?A@jQ?A`c?AN<*A{_:?2Aս:ABA{_:?JAսRA٘i)I9k@YG J<JJJJF&K Y' ]~?yҪHAuF77׳9)ۯB[[N>[\~?[4[[[[BZYY i)  elevatorAngleAction: 0.074279< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743039695.343291F (some fields omitted in printout)Ap= @A@A^]~? AA%"AAsNA"AZAbAjArAzAAAx:Oza3@AI(tA/Al@A?AAZ1?A?A`-?Az&<*AW:?2AAֽ:A=BAW:?JAAֽRA=٘i)I9Al@YG J<JJJJF&K Y$]~?y1ΪeHAwF{7j7س95B)ӯBE[[o6>[]~?[g[[[[BZYY i) `6?yȈJٓH@ ? k ?X0?c?~s?)i> I٘i)I9l@YG J<J;JJJF&Kd> Y":]~?ylȪHA6?xFj7ڳ94B)ϯBE[[q?[]~?[[[[[BZYY i) 1~" elevatorAngleAction: 0.074279< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743039696.603317F (some fields omitted in printout)AQx@A:@0Gk@A^~? A]ܫA%"AANtNA"AZAbAjArAzAAA_'4@A-_ tAțm@AY><AuAEA?A`C?A?A<*Ao:?2AԽ:ABAo:?JAԽRA٘i)I9m@YG Jň<JJJJF&K Yd]~?y㼪yIA{F{7{7;޳93B)ǯBE[[B ?[/N]~?[6[[[[BZYY i) ActAZn@AqL<A삏A6:F?A?A ?A <*Al:?2AԽ:AVBAl:?JAԽRAV٘i)I9n@YG JȊ<JJJJF&K Y-z]~?yIA|F7)792B)¯BE[[;?[$e]~?[Ǭ[[[[BZYY i=) Q;  ?)) ? ?[*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039697.043165 s, next control iter: 1743039697.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039697.443165 s.2J~,)]\4+AAq= @Af@A;^~? AҫA`%"AA;tNA"AZAbAjArAzAAA:x4@AJޜtAn@A;A8A^1K?A?A@y?AJ<*A g:?2A^Խ:ABA g:?JA^ԽRA٘i)I9n@Y-G J<JJJJF&K Y]~?yY1JA}F779)B[[;?[{]~?[)[[[[BZYY i) !`; ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039697.463165 s, next control iter: 1743039697.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13196, header.stamp.nsec: 00 temperature: 13.566536* salinity: 33.375458, density: 1025.000000* values[0]: 0.576270F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039697.863165 s.+J~,>w4+AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083332< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743039697.863301F (some fields omitted in printout)A@A5 ސ @AP^~? AͫA%"AAtNA"AZAbAjArAzAAA_4@A^ tAo@A)AҔA~+P?A o?AqM?A<*A\:?2AԽ:A BA\:?JAԽRA Y7?7P?y*ٓH?@.?v0?? j? 14e`l?)7? I٘i)I9o@YzG J<J`JJJF&Kr> Y]~?yJA7P?F{7{79.B)BE[[5?[,]~?[q[[[[BZYY i) so*d; _?))y_?_?N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039697.903165 s, next control iter: 1743039698.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039698.283165 s.2R$J~,4+AA(\O@A;TB@Ad^~? AȫA"%"AAtNA"AZAbAjArAzAAAG'#5@AItAo@A -A2Ac7U?A$?A<?A<*A}Q:?2A $ս:AgBA}Q:?JA $սRAg٘i)I9o@YG J<JJJJF&K YV]~?yJAFj7Z7e9-B)BE[[-!?[F]~?[[[[[BZYY i) y9; |?)) |?|?y"=`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039698.303165 s, next control iter: 1743039698.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 131972, header.stamp.nsec: 020 temperature: 13.5661892* salinity: 33.3754842, density: 1025.0000002* values[0]: 0.5769102F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039698.703165 s.պ*J~, 4+AJ"J*J2J:JBJnJvJAQ@AF~x@Ax^~? A}ëAw%"AA8tNA"AZAbAjArAzAAAj_5@AutAp@A `UAiA`DZ?A?At?Ap8<*A`:?2Aӽ:A1BA`:?JAӽRA1٘i)I9p@YG J[<JJJJF&K Y]~?y(\KAFj709)B[[C&?[5]~?[p[[[[BZYY i) '; ?))??>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039698.723165 s, next control iter: 1743039699.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039699.123165 s.61J~,X4+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083332< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743039699.123276F (some fields omitted in printout)AG@Aխ@AY^~? A$A%"AA6 uNA"AZAbAjArAzAAA`+a5@A#YtA p@AGm AAn_?A?Au?A)<*AW:?2A*Խ:A6"BAW:?JA*ԽRA6"٘i)I9p@YrG J<JJJJF&K Y"]~?y×KAFŧ7ŧ79,B)BE[[]K,?[]~?[)[[[[BZYY i) 4Ď: ?))??*Y'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039699.163165 s, next control iter: 1743039699.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039699.543165 s.I8J~,4+AJ"J*J2J:JBJnJvJA= ף@A @A^~? AAX%"AA'uNA"AZAbAjArAzAAAGЖ5@AD2 tA+q@Ay9AwAd?A 3?A@i?A<*AN:?2Abս:ABAN:?JAbսRA٘i)I9+q@YG J<JJJJF&K Y]~?y]#LAF77{79+B)BE[[1?[j]~?[[[[[BZYY i) j`G: 9|?))9|?9|?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039699.563165 s, next control iter: 1743039699.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13198, header.stamp.nsec: 00 temperature: 13.565842* salinity: 33.375484, density: 1025.000000* values[0]: 0.577637F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039699.963165 s.y>J~,4+AAffff&@AR( _@A~^~? AA%"AADuNA"AZAbAjArAzAAAO_6@A/tAKq@Ate<AovA&j?A?A;k?Amī<*AD:?2Aֽ:AaBAD:?JAֽRAaY1?i?yt$<ٓH`Xz?Z@rJB?n? Y@ i?L? ?)1? I٘i)I9q@YG J<B=JJJJF&K/u> Y^~?ydLAi?FZ7SI79(B)BE[[zw7?[M]~?[&[[[[BZYY i) )ʝ elevatorAngleAction: 0.083332*J< massPositionAction: 0.0000002J4 buoyancyAction: 0.000500:J dt: 0.420005BJnJ2 time: 1743039700.383292F (some fields omitted in printout)vJA(\@AmO@A^~? AbA2%"AA`uNA"AZAbAjArAzAAA%D+G6@AXtA Mr@AOS<AyAto?A ?A X?As <*A;:?2Azֽ:ABA;:?JAzֽRA٘i)I9Mr@YxG J<C=JJJJF&K Y^~?ymLAFŧ7b7[9&B)BE[[U=?[^~?[i[[[[BZYY i) m3tAr@AN%%<AUAtt?A.?A@?AG<*A[G:?2A[5ս:ABA[G:?JA[5սRA٘i)I9r@YG J<JJJJF&K Y?$^~?yt|mMAF&9)B[[ϸB?[c'^~?[|}[[[[BZYY i)  ?))>?>?q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039700.823165 s, next control iter: 1743039701.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039701.223165 s.gSJ~,HN5+AJ"J*J2J:JBJnJvJAz@A@A^~? AA%"AAuNA"AZAbAjArAzAAA\6@A/)sAs@A;AݫAauy?A?A@h?A<*A @:?2A,ս:A{BA @:?JA,սRA{٘i)I9s@Y3G J.<JJJJF&K Yy5^~?y}uMAF77{79%B)B E[[^hH?[;^~?[aw[[[[BZYY i) } elevatorAngleAction: 0.083332< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743039701.643283F (some fields omitted in printout)A ףp@Age@AG^~? AA܉%"AAuNA"AZAbAjArAzAAAi@6@AP9|BsA@%t@A,A歽Anm~?At?AG?A<*AF8:?2A4ս:ABAF8:?JA4սRA٘i)I9%t@YG J<JJJJF&K YF^~?ynHNAFj79"B)B E[[,!N?[PO^~?[q[[[[BZYY i) 9o YU^~?y gNA?FZ7Z79!B)zB E[[OS?[{b^~?[j[[[[BZYY i) [@A_~? A3Ay%"AA4uNA"AZAbAjArAzAAA~ZnN7@A0GsA u@Au;AIAb?Ả?A7P?A<*AI):?2Aս:A/BAI):?JAսRA/٘i)I9u@YjG J.<JJJJF&K Y|d^~?y_3OAF777P9)uB[[ Y?[Xu^~?[3d[[[[BZYY i)  elevatorAngleAction: 0.083332< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743039702.903309F (some fields omitted in printout)AQ@A}ݮ@A,_~? AوAr%"AA uNA"AZAbAjArAzAAA\?p7@AGsA.v@A艻A谽A ?A=?A ?A^<*A2:?2Agս:A BA2:?JAgսRA I٘i)I9.v@YG JE<JJJJF&K Yas^~?yXOAF79B)nBE[[zE_?[^~?[y][[[[BZYY i) 0 elevatorAngleAction: 0.092283< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743039704.163293F (some fields omitted in printout)A@@AH2@AY_~? A4uAp%"AAEvNA"AZAbAjArAzAAA? 8@A?GsA`8x@ApI<A\*A?A@Os?A@*s?A9<*A:?2Aֽ:AZBA:?JAֽRAZYЛe?5ڎ?y&sGJ<ٓH"?@E?9 ?z ]?`0??)Лe? I٘i)I98x@YG J<J)JJJF&Kv> Y^~?yDA QAڎ?Fj7{9)YB[[p?[ܼ^~?[eH[[[[ZZZZ¸>BZYY i¸> ) 7?))>7?>7?+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039704.183165 s, next control iter: 1743039704.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039704.583165 s.J~,S%6+AJ"J*J2J:J?BJ?nJ5vJA)\u@AMh@Aih_~? AxnAv%"AA[vNA"AZAbAjArAzAAAL68@AWsAx@A;AA?A`r?A*?A#<*A):?2Atֽ:AqWBA):?JAtֽRAqW٘i)I9x@Y}G J<JJJJF&K  9Y^~? 9y]9QAF77F9)TB[[v?[^~?[A[[[[ZZZZBZYY i)  Y^~?yc)SAݛ?Fj7Z7p9B)4BE[[ ?[ _~?[["[[[[ZZZZBZYY iٗ) ͘RP p?))p?p?4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039706.683165 s, next control iter: 1743039707.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743039707.103165 s.J~,6+AJ"J*J2J:JBJnJvJAQ@AE@A_~? AUDA%%"AABvNA"AZAbAjArAzAAA2] 9@Av>sAnI}@A-<A=A?A?A`/?A t<*A$:?2Aֽ:A#<BA$:?JAֽRA#<٘i)I9I}@Y(G JK<JJJJF&K Yr^~?ySAF{7 9B)(BE[[<?[x'_~?[*[[[[ZZZZBZYY i) 7[7+AAY@ACL@A_~? A=.AV%"AA\wNA"AZAbAjArAzAAA1p9@AsAa}@A2:AM=A?AS?A&?A:*A :?2Aֽ:AX<BA :?JAֽRAXJJJF&Kx> Y _~?ySA?F{7j7f9 B)BE[[ ?[L_~?[[[[[BZYY itxm) I>A/=A[?AB?A\?Ac*A9?2Asֽ:A =BA9?JAsֽRA =٘i)I9E}@Y&G JDJJJJF&K Y*#_~?yͩ:SAFj7Z79 B)E[[o@?[\v_~?[թ[[[[BZYY i)  Y_'_~?yĩRA?F7)7[9)"B[[|L?[_~?[̩[[[[BZYY ishl) ~\;IHH?iz@1 ,@)),@,@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039710.503165 s, next control iter: 1743039710.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13209, header.stamp.nsec: 00 temperature: 13.562540* salinity: 33.375584, density: 1025.000000* values[0]: 0.584585F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039710.883165 s.yJ~,87+AA(@AW@A `~? AmAoM%"AAcUwNA"AZAbAjArAzAAA:@AЋsA_|@AEO<Ah=Am?A/P?A`ʡ?ACG*A69?2Aaֽ:AX]=BA69?JAaֽRAX]=٘i)I9_|@YG JC=JJJJF&K Y+_~?y#wRAFŧ7b7&9)&B[[]?[_~?[é[[[[BZYY i) ;IO9H?i7 (@))(@(@wѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039710.903165 s, next control iter: 1743039711.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039711.303165 s.SJ~,jg7+AJ"J*J2J:JBJnJvJA@A C@A`~? AAj%"AA`wNA"AZAbAjArAzAAA!IK2:@AaǕsA^{@A3G<AHP=A ?Ajw?A?AQ׫*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9{@YFG JJJJJF&K Y/_~?ynRAF779)+B[[q?[U_~?[`[[[[BZYY i) #;In)H?i*< r@))r@r@ תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039711.343165 s, next control iter: 1743039711.703174 s, wait time: 0.360009 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13210*, header.stamp.nsec: 0*0 temperature: 13.562727** salinity: 33.375587*, density: 1025.000000** values[0]: 0.584040*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039711.723165 s.J~,H7+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057717< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743039711.723287F (some fields omitted in printout)Az@AE@A`~? AA=~%"AAiwNA"AZAbAjArAzAAA!DCE:@AM~sAA{@Av;A`l=AZ?A]?A ~?Aﴱ*AR9?2Aֽ:AN=BAR9?JAֽRAN=٘i)I9A{@YG JJJJJF&K Y3_~?yQAFŧ7b79B)E[[?[_~?[[[[[BZYY i) ;IBH?iɵ@ Z@))Z@Z@y?lتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039711.743165 s, next control iter: 1743039712.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039712.143165 s.U/J~,* 8+AJ"J*J2J:Jm?BJm?nJ5vJA ףp=@A"g0@A`~? AA%"AAswNA"AZAbAjArAzAAAqOxV:@AA -sAz@A,A=Al?Aࣴ?A?A20*A9?2Aw6׽:A=BA9?JAw6׽RA=٘i)I9z@YG JŲJJJJ F&K Y/8_~?yQQAF77 9)0B[[?[_~?[[[[[BZYY i) *];IH?iJ8C  @)) @ @תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039712.163165 s, next control iter: 1743039712.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039712.563165 s.J~,c $8+AA3333s@A&'f@A !`~? AA4%"AAj{wNA"AZAbAjArAzAAA=&Cf:@Aq WsAJz@A/@Ai=A?A@*?A'?A&*A!9?2Af׽:Af=BA!9?JAf׽RAf=Y??yf=@ٓH`P3?@? Ч?f?.H *?)? I٘i)I9z@Y6G JٱJ&<JJJ F&Kx> Y9_~?y9PA?Fj7Z7Q"9)5B[[¹?[_~?[Y[[[[BZYY i) !;IG?i̝aI ސ @))ސ @ސ @ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039712.603165 s, next control iter: 1743039712.963182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13211, header.stamp.nsec: 00 temperature: 13.562971* salinity: 33.375603, density: 1025.000000* values[0]: 0.583357F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039712.983165 s.J "J *J 2J :J V?BJ V?nJ 5vJ J~,>8+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057717< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743039712.983295F (some fields omitted in printout)A\@A/-@A%`~? A٪A5M%"AAwNA"AZAbAjArAzAAAwt:@A |sAy@A&TAQO=A?A`[տ?A@*?A*A1:?2AgY׽:A,<BA1:?JAgY׽RA,<٘i)I9y@YG JqJJJJ F&K Y:_~?ynPAF77$9)9B[[CԷ?[_~?[唩[[[[BZYY i) %:IxG?i "mO R @))R @R @ЪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743039713.023165 s, next control iter: 1743039713.383186 s, wait time: 0.360021 s rAdjusting time to match Gazebo time: 1743039713.403165 s.&J~,Y8+AAQ@AN@A)`~? AѪA%"AAwNA"AZAbAjArAzAAAx:@AO}sA>x@A[<A֊=AG?A?AR>?AQm*A:?2A׽:A\<BA:?JA׽RA\<٘i)I9x@YG J\B=JJJJ F&K Y3<_~?yPAF%9B)_~?yvKOAFZ7Z7{)9)DB[[J4?[_~?[-x[[[[BZYY i) ÞIG?isW @))@@yYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743039714.263165 s, next control iter: 1743039714.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039714.663165 s.*J~,q8+AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13213, header.stamp.nsec: 00 temperature: 13.563463* salinity: 33.375610, density: 1025.000000* values[0]: 0.582016F (some fields omitted in printout)A@Ar@A?3`~? AAo&"AA)wNA"AZAbAjArAzAAA7q:@A8nsA;Mw@AW<A9b=A.?Aਿ?A j?A*A :?2A ֽ:A[<BA :?JA ֽRA[ YV=_~?yBmNA ?F777F+9B)GBE[[S?['_~?[n[[[[BZYY i) \| IG?i*r] 3@))3@3@bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039714.683165 s, next control iter: 1743039715.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039715.083165 s.E1J~,&S8+AA)\µ@A{@AP5`~? AపA[&"AAwNA"AZAbAjArAzAAA:@ArisAv@A<As=Aǒ?A ש?As?A藼*A :?2Aֽ:Ao<BA :?JAֽRAo<٘i)I9v@Y4G J6JJJJF&K Y;_~?yvdNAF77-9)KB[[(w?[_~?[d[[[[BZYY i) 0KIG?ifa @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039715.123165 s, next control iter: 1743039715.483176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039715.503165 s.7J~,D48+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066871< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743039715.503278F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@Amscz@A6`~? AͨA@&"AAwNA"AZAbAjArAzAAAAy^:@AesAMv@AJt39A=A0B?A& ?A6{?AQA*A :?2A(׽:AQ<BA :?JA(׽RAQ<٘i)I9Mv@YG JJJJJF&K YB:_~?y[6NAF)7)7.9)OB[[?[_~?[9[[[[[BZYY i) &ׄIwG?i.d G@))G@G@ඪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039715.523165 s, next control iter: 1743039715.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13214, header.stamp.nsec: 00 temperature: 13.563704* salinity: 33.375607, density: 1025.000000* values[0]: 0.581393F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039715.923165 s.9>J~,8+AA{G!@A';@A7`~? AA&"AAswNA"AZAbAjArAzAAA$g:@AC8 `sAKu@A7AG=A?AĔ?A?AƇ*A:?2Ac׽:Ap<BA:?JAc׽RAp<٘i)I9u@YG JJJJJF&K Y8_~?yRMAF777709)RB[[Y?[*_~?[Q[[[[BZYY i) ⣻ImdG?i sf @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039715.943165 s, next control iter: 1743039716.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039716.343165 s. Y2_~?y`A&MA?Fb7<49)XB[[?[X_~?[">[[[[BZYY i) o[IF=G?iѷIk @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039716.783165 s, next control iter: 1743039717.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039717.183165 s.RJ~,gK9+AJ"J*J2J:JBJnJvJA(\@A%>w@A7`~? AvAp&"AAuwNA"AZAbAjArAzAAA+~ʪ:@A@RQsA׌t@Av!A=Aõ?A2A~?A*A:?2Aֽ:A<BA:?JAֽRA<٘i)I9t@YG JeJJJJF&K Y`._~?y8LAF77769B)]BE[[@9+AJ"J*J2J:JBJnJvJA@A>@A0`~? A7hA&"AAwNA"AZAbAjArAzAAA:@A/`=sAdr@A;A*=Ae?A⃵A 1X?A늼*A9?2A/ֽ:A=BA9?JA/ֽRA=Y? ?y*=`w;ٓHOп!?zTп?alcs?`?)? I٘i)I9r@YG JC=J'<JJJF&Kx> Y_~?y kKA ?Fŧ7b71=9)jB[[?[N_~?[ [[[[BZYY i) v?IAF?i8s ѷ"@))ѷ"@ѷ"@~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039718.883165 s, next control iter: 1743039719.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039719.283165 s.2RtJ~,9+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076446< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743039719.283288F (some fields omitted in printout)A(\@A{2Q@A,`~? A2`A&"AA(wNA"AZAbAjArAzAAAω:@AL8sANr@AoYAhٍ=A ?A~[AVH?Aϊ*A,9?2AC׽:A=BA,9?JAC׽RA=٘i)I9Nr@YyG JϊJJJJF&K Y_~?y  KAF7777>9B)mBE[[?[f_~?[e[[[[BZYY i) NIF?i5u F$@))F$@F$@%êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039719.303165 s, next control iter: 1743039719.683174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13218., header.stamp.nsec: 0.0 temperature: 13.564577.* salinity: 33.375603., density: 1025.000000.* values[0]: 0.579233.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039719.703165 s.ҺzJ~,9+AJ"J*J2J:JBJnJvJAQ@A@A)`~? A2XA &"AAwNA"AZAbAjArAzAAAZhoe~:@A34C 3sAq@AuBA[=As?A.A5?Ak*A9?2Ahh׽:A=BA9?JAhh׽RA=I٘i)I9q@Y2G JaJJJJ!F&K Y _~?yJAF77@9B)rBE[[+D?[_~?[[[[[BZYY i) w^IF?iu %@))%@%@ǪYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743039719.763165 s, next control iter: 1743039720.103174 s, wait time: 0.340009 s rAdjusting time to match Gazebo time: 1743039720.123165 s.4J~,P:+AAG:@A -@A$`~? A9PA &"AAψwNA"AZAbAjArAzAAApJaq:@ACJ.sAbq@A}NA=A?A $|A!?A`*A9?2AKO׽:A^=BA9?JAKO׽RA^=٘i)I9bq@YG JuJJJJ"F&K YN_~?yRJAFb77B9)vB[[q?[M}_~?[|[[[[BZYY i) mIkF?iyu Hj'@))Hj'@Hj'@,˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039720.163165 s, next control iter: 1743039720.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039720.543165 s.IJ~,":+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076446< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743039720.543297F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@APkc@A`~? AHHAzW &"AAwNA"AZAbAjArAzAAA@Yab:@AT5$%*sAHp@AۻA=A?AZ¿A ?A,*AV9?2A׽:Ar =BAV9?JA׽RAr =٘i)I9p@YG JJJJJ#F&K Y^~?yIAF\D9)zB[[3?[$t_~?[#[[[[BZYY i) g}IF?iսur (@))(@(@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039720.583165 s, next control iter: 1743039720.943194 s, wait time: 0.360029 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13219, header.stamp.nsec: 00 temperature: 13.564816* salinity: 33.375610, density: 1025.000000* values[0]: 0.578653F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039720.963165 s.zJ~,=:+AAffff@AZ@A`~? A_@AJ &"AAKzwNA"AZAbAjArAzAAA]⪟R:@AB]Q%sAap@A5;A=A!?A`4ĿA?A*A19?2AMֽ:A=BA19?JAMֽRA=Y ?T(?y=76;ٓHk}ֿ E? Sֿ"?@df? ?) ? I٘i)I9ap@YMG JȜJ <JJJ%F&K1x> Y#^~?yIA(?F77&F9B)}BE[[1?[?j_~?[ި[[[[BZYY i) @IiqF?i~/u V*@))V*@V*@{ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039721.003165 s, next control iter: 1743039721.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039721.383165 s.ؕJ~,X:+AJ"J*J2J:JBJnJvJA(@A}@A`~? A8Aq &"AAqwNA"AZAbAjArAzAAAِ3@:@Av sAo@A0<A6k=A?A ƿA?A*A9?2A,fֽ:A=BA9?JA,fֽRA=٘i)I9o@YG JǣB=JJJJ&F&K Y/^~?y'IAF77{7G9B)B E[[?[__~?[ը[[[[BZYY i) E΍I\F?iu ,@)),@,@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039721.423165 s, next control iter: 1743039721.783174 s, wait time: 0.360009 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13220&, header.stamp.nsec: 0&0 temperature: 13.385807&* salinity: 33.391621&, density: 1025.000000&* values[0]: 0.699944&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039721.803165 s.xAJ~,gs:+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085745< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743039721.803283F (some fields omitted in printout)A@A2@Ad`~? A0A% &"AAhwNA"AZAbAjArAzAAAH-:@A(1sA>Jo@A*W<A=A>?ARǿA>?A*A9?2A;gֽ:A=BA9?JA;gֽRA=٘i)I9Jo@YG J˨C=JJJJ'F&K Y=^~?yFۨHAFb77I9)B[[x$?[:T_~?[̨[[[[BZYY i) ZI(HF?i5Fu -@))-@-@yN٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039721.843165 s, next control iter: 1743039722.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039722.223165 s.gJ~,H:+AJ"J*J2J:JBJnJvJAzG@A :@A`~? A(A| &"AA^wNA"AZAbAjArAzAAAž:@A*;vsAn@AR <AР=A?A`ɿA/?AP*A9?2A`ֽ:A =BA9?JA`ֽRA =٘i)I9n@YKG J8JJJJ)F&K YI^~?y ӨZHAF7K9)B[[P?[&H_~?[è[[[[BZYY i) 眼I3F?iOPs A/@))A/@A/@ ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039722.263165 s, next control iter: 1743039722.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039722.643165 s.zЩJ~,*:+AA ףp}@A@1dp@A)`~? A!A>V &"AASwNA"AZAbAjArAzAAA@:@A =sA'n@A s̹Aଣ=A@Ap˿Auq?AKe*AK9?2A{׽:A^=BAK9?JA{׽RA^=٘i)I9'n@YG J孼JJJJ*F&K YW^~?yʨGAF77QM9B)BE[[z=@[c;_~?[[[[[BZYY i) tIF?i o _0@))_0@_0@YFFF]:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13221, header.stamp.nsec: 00 temperature: 13.386091* salinity: 33.391621, density: 1025.000000Waiting for Gazebo time sync: latest Gz time: 1743039722.663165 s, next control iter: 1743039723.043179 s, wait time: 0.380014 s* values[0]: 0.698782F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039723.063165 s.J~,J :+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: -0.085745< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743039723.063317F (some fields omitted in printout)A3333@A$(@AF_~? AlA &"AAiHwNA"AZAbAjArAzAAA 9@A\. sAcm@A-`Ap=A.&@A%mͿA 1K?AT;*Ai9?2A+E׽:A=BAi9?JA+E׽RA=Y'?@y= ٓH Toܿ@ƦČ?-ܿh? Qд`˂?)'? I٘i)I9m@YG JJ<JJJ+F&Kpx> Y¾^~?y¨GA@FZ7Z7O9)B[[@[-_~?[ڱ[[[[BZYY i) ӫIT F?i6p d2@))d2@d2@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039723.083165 s, next control iter: 1743039723.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039723.483165 s.y_J~,:+AA\@A\=@A_~? AA&"AAsAdl@A%A(߬=A^@A пA?Akһ*A9?2AH ׽:A=BA9?JAH ׽RA=٘i)I9dl@YG JJJJJ.F&K Y^~?y+FAFb7b7R9B)BE[[@[_~?[[[[[BZYY i) =IE?ivGn 5@))5@5@Y^~?)+FFF]:Waiting for Gazebo time sync: latest Gz time: 1743039723.943165 s, next control iter: 1743039724.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039724.323165 s.sJ~,;+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085745< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743039724.323281F (some fields omitted in printout)AGzT@AOoG@A_~? AAQ&"AA9!wNA"AZAbAjArAzAAA[][9@AEnJrAk@A0A =A@A eѿA?Aż*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9k@Y}G JܿJJJJ0F&K Y^~?yK4FAF77|T9)BE[[@[l_~?[$[[[[BZYY i) IME?i|k 7@))7@7@NYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743039724.343165 s, next control iter: 1743039724.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13223*, header.stamp.nsec: 0*0 temperature: 13.386647** salinity: 33.391659*, density: 1025.000000** values[0]: 0.696303*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039724.743165 s.WJ~,u/;+AJ"J*J2J:J@2?BJ@2?nJ:5vJAףp=@Aۧ1}@A_~? A1A=&"AAwNA"AZAbAjArAzAAAM{9@AR1rAk@A;A =A)D@A CDҿA?A+ͼ*A9?2AIֽ:AY~=BA9?JAIֽRAY~=٘i)I9k@YG JɼJJJJ1F&K Yq^~?ykEAF{7GV9B)BE[[s$@[V^~?[ڏ[[[[BZYY i) jKɼIE?i|rg f8@))f8@f8@mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039724.763165 s, next control iter: 1743039725.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039725.163165 s.t}J~,qJ;+AA@A%/@Ac_~? AA&"AAbwNA"AZAbAjArAzAAAa1m\9@A[rAjj@A/R<Aߐ=A@A!ӿAPl?AoԼ*A.9?2A(ֽ:A<=BA.9?JA(ֽRA<=Y,?@y=RS<ٓH  \ ?W`U?@Fj [? ?),? I٘i)I9jj@YG J%ѼJt<JJJ2F&Kw> Y^}^~?yKEA@F)7)7X9)B[[ @[^~?[[[[[BZYY i) x}мIE?iErf b;:@))b;:@b;:@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039725.183165 s, next control iter: 1743039725.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039725.583165 s.hJ~,TTe;+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: -0.085745< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200832 time: 1743039725.583374F (some fields omitted in printout)A)\@A:@A_~? AsA_&"AA_vNA"AZAbAjArAzAAAhJ;9@AvrAi@At]<<A=A @ArӿA8?A]׼*Aߜ9?2A@Qֽ:AR=BAߜ9?JA@QֽRAR=٘i)I9i@Y>G J%ּJJJJ4F&K YKn^~?yDAFZ7SI7Y9 B)BE[[/K @[-^~?[[[[[BZYY i) L׼ICE?ie `;@))`;@`;@aYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743039725.603165 s, next control iter: 1743039725.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13224, header.stamp.nsec: 00 temperature: 13.386942* salinity: 33.391674, density: 1025.000000* values[0]: 0.694945F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039726.003165 s.y J~,P4;+AAR+@A#fy@A?_~? A.A&"AAvNA"AZAbAjArAzAAAtM9@A+rAi@AJ;AP=Aj2 @A ԿA?AaA׼*Aԙ9?2AGֽ:A۳=BAԙ9?JAGֽRA۳=٘i)I9i@Y G J׼JJJJ5F&K Y9_^~?yZDAF7777[9)BE[[y @[2^~?[w[[[[BZYY i) ޼IDE?i'b [=@))[=@[=@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039726.023165 s, next control iter: 1743039726.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039726.423165 s. uJ~,;+AJ"J*J2J:JBJnJvJA{Ga@A@T@Av_~? AݩA{&"AA'vNA"AZAbAjArAzAAAgo8@A]CrAUMh@A9AKX=A @AտA`h?ADּ*A9?2A׽:AtO=BA9?JA׽RAtO=٘i)I9Mh@Yb G JּB=JJJJ6F&K Y$P^~?yCAFj7j7r]9)ǯB[[n@[^~?[p[[[[ZZ¸BZYY i¸=) YҼIoE?iO] >@))>@>@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039726.463165 s, next control iter: 1743039726.823184 s, wait time: 0.360019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13225, header.stamp.nsec: 00 temperature: 13.387268* salinity: 33.391685, density: 1025.000000* values[0]: 0.693487F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039726.843165 s.J~,;+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083446< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743039726.843307F (some fields omitted in printout)Ap= @Aa>@A3_~? A֩A&"AAvNA"AZAbAjArAzAAAT$b8@A(rAg@Al]FAA'=A\ @AֿA?Aaռ*A>9?2A,׽:Aݧ=BA>9?JA,׽RAݧ=٘i)I9g@Y G JּC=JJJJ8F&K YA^~?y@~iCAFŧ7b7<_9 B)ίBE[[@[^~?[zh[[[[ZZBZYY i) -ƼIw]E?i稿1X }@@))}@@}@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039726.863165 s, next control iter: 1743039727.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039727.263165 s.J~,,;+AJ"J*J2J:JBJnJvJA@A?@Ay_~? AϩA&"AA vNA"AZAbAjArAzAAA\Ω8@Az4rA(f@AjKAѼ=A#3@A`d׿A`"Q?Ao*Aq9?2A׽:A><BAq9?JA׽RA> Y/^~?yVwBA!@F777a9 B)֯BE[[l@[^~?[a[[[[ZZBZYY i) ޺InKE?iͧV ~ B@))~ B@~ B@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039727.283165 s, next control iter: 1743039727.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 132262, header.stamp.nsec: 020 temperature: 13.3876252* salinity: 33.3916782, density: 1025.0000002* values[0]: 0.6919962F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039727.683165 s.lJ~,V;+AA(\@A2]@AL_~? AȩA&"AAvvNA"AZAbAjArAzAAAC\ہ8@Aβ"brA|e@A4лA=Afx@A4ؿA@?Af8*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9e@Y G JJJJJ:F&K Y=^~?ykp}BAF{7b9)ݯB[[U@[o^~?[Y[[[[ZZBZYY i) 宼I9E?i T C@))C@C@y:=ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039727.683165 s, next control iter: 1743039728.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743039728.103165 s.J~,<+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083446< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743039728.103301F (some fields omitted in printout)AQ8@AOI+@As_~? A©A&"AA/vNA"AZAbAjArAzAAA WX8@A<82rA^ e@A6;A6?w=A@AٿA?A*A9?2AFֽ:A}fj<BA9?JAFֽRA}fj<٘i)I9 e@Ys G JJJJJ<F&K Y ^~?yiBAFŧ7b7d9B)BE[[@[Z^~?[R[[[[ZZBZYY i) 좼I%(E?iwO 1'E@))1'E@1'E@>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039728.123165 s, next control iter: 1743039728.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039728.523165 s.J~,{!<+AAHzn@A$%= a@Ae_~? A>A%&"AA9ovNA"AZAbAjArAzAAAd7-8@A2 rA[d@AX&<A[2=A@AٿA@i?Aּ*Ay9?2Aֽ:AR;BAy9?JAֽRAR;٘i)I9[d@Y G JJJJJ=F&K Yd]~?ybAA  EFb77gf9)B[[5:@[E^~?[K[[[[ZZBZYY i) (I E?i>J pF@))pF@pF@zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039728.543165 s, next control iter: 1743039728.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13227, header.stamp.nsec: 00 temperature: 13.387997* salinity: 33.391716, density: 1025.000000* values[0]: 0.690293F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039728.943165 s.ZdJ~,J]<<+AJ"J*J2J:JBJnJvJAq= ף@AJ˖@AW_~? AAe&"AAYvNA"AZAbAjArAzAAA8@ArAͳc@A#hB<Az<AP@A>ڿA@2N?AH*A9?2Aֽ:A]BA9?JAֽRA]٘i)I9c@Y G JȼJJJJ>F&K Y]~?y[AAF7771h9B)BE[[@[0^~?[ E[[[[ZZBZYY i) IE?iC BH@))BH@BH@IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039728.983165 s, next control iter: 1743039729.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039729.363165 s.J~,>W<+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083446< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743039729.363286F (some fields omitted in printout)A@A@A!H_~? AA9+&"AAHCvNA"AZAbAjArAzAAAT7@AoHrAa.c@A;A\<A@AeۿA ?A؄*AƸ9?2Aֽ:AlgBAƸ9?JAֽRAlgY@(@y\<L ;ٓH`r5 jU^ ?+5 U?q̀|? v?)@ I٘i)I9.c@YD G JϞJ:JJJ@F&K[w> YR]~?yOUAA@Fŧ77i9)B[[4S@[^~?[>[[[[ZZBZYY ii=)  IrD?iWPA 5PH))5PHI@eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039729.383165 s, next control iter: 1743039729.763181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13228", header.stamp.nsec: 0"0 temperature: 13.388338"* salinity: 33.391705", density: 1025.000000"* values[0]: 0.688899"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039729.783165 s.XJ~,r<+AJ"J*J2J:JBJnJvJA(\@At?P@A8_~? AtA?&"AAR,vNA"AZAbAjArAzAAA+57@A^ِrAb@AAMA&@A@B*ܿA ?A/*Af9?2A[ֽ:ADBAf9?JA[ֽRAD٘i)I9b@Y G JPdJJJJAF&K Y]~?yNAAF)7b7k9B)BE[[%@[ ^~?[%8[[[[ZZBZYY i=) nID?iw= fF))fFO\K@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039729.823165 s, next control iter: 1743039730.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039730.203165 s.#J~,<+AAQE@AT8@A(_~? A Ah)&"AAvNA"AZAbAjArAzAAA;ESu7@AfFHjrAvb@A%A~A{4@A@4ܿA@y?AҞ*Ad9?2Ak-ֽ:A쭼BAd9?JAk-ֽRA쭼٘i)I9b@Y G JnJJJJBF&K Y]~?yH@AF777m9B)BE[[k@[]~?[1[[[[ZZBZYY i) )ZI D?iK8 6E))6EL@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039730.223165 s, next control iter: 1743039730.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039730.623165 s.W)J~,]<+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074986< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743039730.623309F (some fields omitted in printout)AGz@Am@A_~? AA&"AAxuNA"AZAbAjArAzAAA  hD7@A7rAb@AlXAp%A~@A@ȪݿAm-?A~і*A9?2A(ֽ:A9ӼBA9?JA(ֽRA9Ӽ٘i)I9b@Y G J8JJJJDF&K Y]]~?y>B@AF77\o9)[[!@[h]~?[+[[[[BZYY i) GID?i芿1 [C))[CZuN@yS=Z5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039730.643165 s, next control iter: 1743039731.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13229 , header.stamp.nsec: 0 0 temperature: 13.388500 * salinity: 33.391731 , density: 1025.000000 * values[0]: 0.688183 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039731.043165 s.0J~,<+AA= ף@AZ@A_~? AA&"AAuNA"AZAbAjArAzAAA V7@A°^nrA|b@AAX3A@AKg޿AH?A݉r;*A΢9?2A3Eֽ:A!BA΢9?JA3EֽRA!٘i)I9b@Y G J4:JJJJEF&K Y]~?y;@AFj7Z7'q9B)BE[[|@[]~?[-&[[[[BZYY i) `3IԹD?iфO* *B))*BP@p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039731.063165 s, next control iter: 1743039731.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039731.463165 s.P7J~,Ϥ<+AJ"J*J2J:JBJnJvJAffff@A6^@A ^~? ApA&"AAuNA"AZAbAjArAzAAAhe 6@AMdrAb@A8AkXA @Af!߿A@?A;*A;9?2Aֽ:A5~BA;9?JAֽRA5~Y@!@ykXUkٓH#f`}H??n㡿`= ?Q?)@ I٘i)I9b@Y G J;J JJJFF&Kw> Yr]~?y16%AA!@F)7ŧ7r9)B[[!@[D]~?[ [[[[BZYY i#]h=) #I׫D?i w& u@))u@@Q@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039731.503165 s, next control iter: 1743039731.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13230, header.stamp.nsec: 00 temperature: 13.388527* salinity: 33.391727, density: 1025.000000* values[0]: 0.688085F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039731.883165 s.y=J~,4<+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056729< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743039731.883299F (some fields omitted in printout)A(@Aa@A^~? AsA2&"AAuNA"AZAbAjArAzAAA73ͩ6@A rAb@A';AXxAv@A E߿A;?A%<*AW9?2A!ֽ:ACBAW9?JA!ֽRAC٘i)I9b@Y G J <JJJJHF&K Y\]~?y0nAAF77t9B)E[[ы"@[]~?[#[[[[BZYY i) IED?i|G!  ?)) ?S@ѧ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039731.903165 s, next control iter: 1743039732.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039732.303165 s.cDJ~,g=+AJ"J*J2J:J-0?BJ-0?nJ85vJAQ@AJ?D@A^~? AA&"AAMuNA"AZAbAjArAzAAA82s6@Ah3wrAV elevatorAngleAction: 0.066095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743039733.143298F (some fields omitted in printout)A ףp@AjN^d@A^~? A+wALc&"AA(^uNA"AZAbAjArAzAAA\,6@ArA d@AV<;A薽AX!@A_A1;?AB<*A9?2A{ֽ:A!,BA9?JA{ֽRA!,٘i)I9d@Y G J3<JJJJLF&K Y]~?ymHBAF7777z9 B)B۹E[[n'@[@]~?[) [[[[BZYY i) ûIyD?iYN Qx:))Qx:dW@yJڈ=0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039733.183165 s, next control iter: 1743039733.543180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039733.563165 s.XJ~,N d=+AA3333@A)@A^~? AqA&"AAAuNA"AZAbAjArAzAAA1T5@A@!rA Y{]~?ysBA"@Fj7j7{9!B)BعE[[Ö(@[/&]~?[[[[[BZYY i) .ImD?iR \8))\8Y+Y@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039733.603165 s, next control iter: 1743039733.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13232, header.stamp.nsec: 00 temperature: 13.388353* salinity: 33.391739, density: 1025.000000* values[0]: 0.689147F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039733.983165 s._J~,~=+AJ"J*J2J:JBJnJvJA\(@A˄_@A^~? A;lAj;&"AA$uNA"AZAbAjArAzAAA%L35@A 8ԣrA/e@AEAA#@A`?A?Aگ<*A9?2A ֽ:ABA9?JA ֽRA٘i)I9/e@Y| G J+<JJJJNF&K Y0\~?yzCAF{7{7}9#B)BչE[[Z*@[ ]~?[&[[[[BZYY i) tIbD?iIc p7))p7Z@>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039734.003165 s, next control iter: 1743039734.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039734.403165 s.&fJ~,͙=+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743039734.403287F (some fields omitted in printout)AQ^@A7hQ@Au^~? AfA&"AAJuNA"AZAbAjArAzAAA=T5@A>)rAe@A_=AA/%@AQA Z?A<*A9?2A8ֽ:ABA9?JA8ֽRA٘i)I9e@Y G Jq<JJJJPF&K Y\~?yCAFSI7SI7|9)B[[ҕ+@[\~?[[[[[BZYY i) ?RIXD?i>B0 5))51\@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039734.443165 s, next control iter: 1743039734.803174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13233", header.stamp.nsec: 0"0 temperature: 13.388134"* salinity: 33.391735", density: 1025.000000"* values[0]: 0.690112"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039734.823165 s.J "J *J 2J :J 0?BJ 0?nJ @95vJ lJ~,)=+AAGz@A\m@Aa^~? AaA &"AADtNA"AZAbAjArAzAAA(5@AXsrA<\f@A_A#A&@A74A?A<*A,9?2A6ֽ:AvW BA,9?JA6ֽRAvW ٘i)I9\f@Y3 G J<B=JJJJQF&K Y\~?y CAFj7Z7G9&B)BѹE[[-@[c\~?[[[[[BZYY i) HoIOD?i1! k4))k4]@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039734.863165 s, next control iter: 1743039735.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039735.243165 s.sJ~,=+AAףp=@A2@AL^~? A\Am&"AAtNA"AZAbAjArAzAAA>KY4@AҤvarAf@AU;AA9'@AA H?Aq3<*AX9?2A+ֽ:ABAX9?JA+ֽRA٘i)I9f@Y G Jű<C=JJJJRF&K YM\~?yODAF7779'B)BιE[[.@[\~?[@[[[[BZYY i) sISFD?i"л f2))f2O4_@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039735.283165 s, next control iter: 1743039735.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039735.663165 s.zJ~,q=+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743039735.663284F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13234, header.stamp.nsec: 00 temperature: 13.387937* salinity: 33.391754, density: 1025.000000* values[0]: 0.691170F (some fields omitted in printout)A@Am@A8^~? AWA&"AAtNA"AZAbAjArAzAAA6cȱ4@Aͯ[crAIg@A7<A˘AP4)@A`A@a?A}<*AJ9?2AA׽:AyBAJ9?JAA׽RAyYn @&)@y|ɘk8<ٓH`f޿h"?,?l_??@?)n @ II٘i)I9g@Y G J}<J;JJJTF&K0x> Y\~?yYDA&)@Fj7j7݄9)B)B˹E[[0@[\~?[[[[[BZYY i) GI>D?i ƻ #l1))#l1`@B*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039735.683165 s, next control iter: 1743039736.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039736.083165 s.DJ~,S>+AA)\5@A=(@A#^~? ASAj-&"AA!tNA"AZAbAjArAzAAA0y\4@AgyrAh@A6J<A͖A*@AAS?Aϖ<*A9?2A.׽:A[BA9?JA.׽RA[٘i)I9h@Y> G J<JJJJUF&K Yu\~?y#EAFb7b79)B[[31@[ӆ\~?[L[[[[BZYY i) C9I<6D?i! t/))t/A2b@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039736.123165 s, next control iter: 1743039736.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039736.503165 s.J~,H4 >+AJ"J*J2J:J1?BJ1?nJ95vJARk@Aߩ{^@A ^~? ApNAb&"AAltNA"AZAbAjArAzAAAU &ـ4@AoZ[rAYh@As ;AⱔA+@A [AI?A4<*Ab9?2Aֽ:A0BAb9?JAֽRA0٘i)I9h@Y G J.<B=JJJJVF&K Y\\~?yEAFZ7SI7r9*B)BȹE[[12@[k\~?[$[[[[BZYY i) p4:I/D?idSv xo.))xo.=c@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039736.543165 s, next control iter: 1743039736.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13235, header.stamp.nsec: 00 temperature: 13.387718* salinity: 33.391747, density: 1025.000000* values[0]: 0.692153F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039736.923165 s.8J~,;>+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743039736.923329F (some fields omitted in printout)A{G@Av>@A6]~? AIA&"AAKtNA"AZAbAjArAzAAAf`3@ArA,i@AdyAopA -@AlA`g?ABD<*A9?2Azֽ:AcBA9?JAzֽRAc٘i)I9,i@Y G J&<C=JJJJXF&K YD\~?yEAF77=9,B)BŹE[[Jn4@[sP\~?[3[[[[BZYY i) R;I(D?i쾉Mr ,)),,e@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039736.963165 s, next control iter: 1743039737.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039737.343165 s.+AJ"J*J2J:JBJnJvJAp= @A !@AT]~? AEA}9&"AA*tNA"AZAbAjArAzAAA$.3@A>j;rAi@A"AAP.@AA?Al<*A9?2AJֽ:ABA9?JAJֽRA٘i)I9i@Y@G J <JJJJYF&K YQ+\~?yPFAFŧ7ŧ79-B)B¹E[[j5@[D5\~?[z[[[[BZYY i) 5S;IB#D?i̾X w+))w+f@N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039737.383165 s, next control iter: 1743039737.743177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13236&, header.stamp.nsec: 0&0 temperature: 13.387535&* salinity: 33.391750&, density: 1025.000000&* values[0]: 0.693137&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039737.763165 s.6J~,p>+AA @A!#@A*]~? AWAA&"AAY tNA"AZAbAjArAzAAA7}T3@AwErA4Ej@AXNARxA/@A!A )?AR<*AZ9?2APֽ:ASBAZ9?JAPֽRASYȣ!@/@ynuWOٓHVqMؿZ?@?@?ډ?)ȣ!@ I٘i)I9Ej@YG J<JW<JJJ[F&Kx> YB\~?yFA/@Fj7Z7ҍ9.B)ܯBE[[U7@[\~?[[[[[BZYY itA=) 2Έ;IBD?i*n ))))"h@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039737.783165 s, next control iter: 1743039738.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039738.183165 s.ˢJ~,o>+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J8 propOmegaAction: 25.132812"J*J< rudderAngleAction: -0.2617992J> elevatorAngleAction: 0.074832< massPositionAction: 0.000000:JBJ4 buoyancyAction: 0.000500nJ dt: 0.419994vJ2 time: 1743039738.183287F (some fields omitted in printout)A(\B@A+f5@A]~? A@=A&"AAsNA"AZAbAjArAzAAA,Hw3@AE'rAj@A[ AA0@As_A V?Ae<*A9?2A֊ֽ:AxBA9?JA֊ֽRAx٘i)I9j@YG Jf<JJJJ\F&K Y6[~?yGAF{7j790B)ٯBE[[^8@[[~?[[[[[BZYY i) R;ID?iamQ ;());(zi@h*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039738.203165 s, next control iter: 1743039738.583179 s, wait time: 0.380014 s26[~?)2 rAdjusting time to match Gazebo time: 1743039738.603165 s.34J~,>+AAQx@AUEk@A]~? AN9Ax-&"AAasNA"AZAbAjArAzAAA e2@ArA_Mk@AAA1A$E2@AA~?A$<*A*9?2Aֽ:ABA*9?JAֽRA٘i)I9Mk@Y5G J<JJJJ]F&K Y*[~?yLmGAF77g91B)ׯBE[[c::@[[[~?[p[[[[BZYY i) t;I+D?iR/  ')) 'k@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039738.623165 s, next control iter: 1743039739.003175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13237 , header.stamp.nsec: 0 0 temperature: 13.387306 * salinity: 33.391762 , density: 1025.000000 * values[0]: 0.694110 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039739.023165 s.ZJ~,|>+AJ"J*J2J:J1?BJ1?nJR:5vJAHz@Ad@A]~? A5A6y&"AAˢsNA"AZAbAjArAzAAAMm`2@AKmrAk@A# <AA&3@AA?AH<*AW9?2A׽:A&BAW9?JA׽RA&٘i)I9k@YG J0<JJJJ_F&K Y[~?yGAF77j7293B)ԯBE[[;@[[~?[ާ[[[[BZYY i) H;IID?isV? }%))}%8l@y-=$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039739.043165 s, next control iter: 1743039739.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039739.443165 s.1öJ~,%]>+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074832< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743039739.443277F (some fields omitted in printout)Aq= @At@Ap]~? A1A&"AAsNA"AZAbAjArAzAAA,?2@A^w2rA;l@AN<A.A4@Ab A`?Ap<*A9?2A!׽:A#BA9?JA!׽RA#٘i)I9;l@YG J<JJJJ`F&K Y[~?y}+HAF{7{794B)үBE[[=@[O[~?[ܧ[[[[BZYY i) L>+AJ"J*J2J:J1?BJ1?nJ:5vJA@Aph @AkY]~? AX.A &"AA~\sNA"AZAbAjArAzAAA}u1@A@~rAwl@A%<A:pA86@A.BA@%?A3<*A9?2Abֽ:ABA9?JAbֽRAY4'(@W-6@yin&<ٓH `ҿL?@ȑ? ,@{\mJ? ??)4'(@ I٘i)I9l@Y G Jg<B=Jf;JJJaF&Kx> Y[~?yݧHA-6@F77ǖ95B)ЯBE[[>@[t[~?[>ۧ[[[[BZYY i) * elevatorAngleAction: 0.074832< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743039740.703284F (some fields omitted in printout)AQ@AW_]x@A)]~? A'Av &"AAsNA"AZAbAjArAzAAAkbwh1@A*@6 zrAlm@A _޻A⍽A8@AA@0?A<*AX9?2A;_ֽ:ABAX9?JA;_ֽRA٘i)I9m@YG Ji<JJJJdF&K YW[~?yاBIAF77]97B)ʯBE[[YA@[W[~?[ا[[[[BZYY i) (0֧IA F777'98B)ǯBE[[ B@[s<[~?[ק[[[[BZYY i)  @jA: ))=u@n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039741.563165 s, next control iter: 1743039741.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13240, header.stamp.nsec: 00 temperature: 13.386818* salinity: 33.391720, density: 1025.000000* values[0]: 0.696661F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039741.963165 s.yJ~,}?+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074832< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743039741.963319F (some fields omitted in printout)Affff&@A[@A\~? AA:!&"AArNA"AZAbAjArAzAAA]0@AR}trA0 o@AA jA֫<@Ai'A ?A'<*Ag9?2Aֽ:Aq BAg9?JAֽRAq Y.@<@yi*ٓH`Riȿ@㹱?(?f`8I?06r@?).@ I٘i)I9 o@YG J<JJJJhF&K*x> Y2[~?yѧ^JA<@ Fb779;B)¯BE[[ɋE@[g[~?[֧[[[[BZYY i) N^F: r))rv@W*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039742.003165 s, next control iter: 1743039742.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039742.383165 s.J~,?+AJ"J*J2J:JBJnJvJA(\@A&BO@Aq\~? AyAn!&"AArNA"AZAbAjArAzAAA w A0@A &srACo@Ah#;AؓAb>@AOA4?A<*A9?2A׽:AU,BA9?JA׽RAU,٘i)I9o@YG J<JJJJiF&K Y|Z~?yLЧJA F77790; ))#x@K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039742.403165 s, next control iter: 1743039742.783173 s, wait time: 0.380008 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13241&, header.stamp.nsec: 0&0 temperature: 13.386658&* salinity: 33.391750&, density: 1025.000000&* values[0]: 0.697571&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039742.803165 s.wAJ~,{g?+AA@Am@A\~? A A!&"AAN\rNA"AZAbAjArAzAAAQΰ/@A8 GqrA!p@A;<A#dAY?@A`tA~]?AX <*Aζ9?2A&׽:AuBAζ9?JA&׽RAu٘i)I9!p@Y&G Jܘ<JJJJkF&K YZ~?yΧ#KAF)7b7R9>B)BE[[SH@[Z~?[է[[[[BZYY i) S`}6; l))lIy@c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039742.843165 s, next control iter: 1743039743.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039743.223165 s.gJ~,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: 0.4200162 time: 1743039743.223309F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@A衺@A\~? AA=!&"AA6rNA"AZAbAjArAzAAA^T/@Aw,IEprAp@A9F<A]oA@@A@(A ?AW<*AI9?2AD׽:A BAI9?JAD׽RA ٘i)I9p@YtG J<JJJJlF&K YZ~?y̧KAF{7{79)B[[ڳI@[YZ~?[է[[[[BZYY i) S9`; +))+z@(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039743.263165 s, next control iter: 1743039743.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039743.643165 s.wJ~, *?+AA ףp@Aje@A}\~? AAQ!&"AArNA"AZAbAjArAzAAA6n"1.@Aa5nrA$q@A;A1A"A@A@tA?A-<*A*9?2Aֽ:A BA*9?JAֽRA ٘i)I9$q@YG J<JJJJmF&K YWZ~?y9˧KAFZ7禴9?B)BE[[K@[nZ~?[֧[[[[BZYY i) ՝; ))]|@yЫ=*YFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13242F, header.stamp.nsec: 00 temperature: 13.386490F* salinity: 33.391724, density: 1025.000000* values[0]: 0.698490F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743039743.663165 s, next control iter: 1743039744.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039744.063165 s.J "J J~*J2J, @+A:J2?BJ2?nJ;5vJA33333@AeI)&@A\d\~? AAT!"&"AAqNA"AZAbAjArAzAAAPQh9#.@AvhmrA7q@A3A-A/C@A+A?A<*A!9?2Akֽ:ABA!9?JAkֽRAYA-5@c3C@y,mB4ٓH 9w@{?@W?@{5? Qwf ?)A-5@ I٘i)I9q@YG JL<JLJJJoF&Kw> Y9{Z~?ykʧQLA3C@F779@B)BE[[GqL@[C}Z~?[s֧[[[[BZYY i) v}?; dX))dXQ}@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039744.103165 s, next control iter: 1743039744.463186 s, wait time: 0.360021 s rAdjusting time to match Gazebo time: 1743039744.483165 s.u_J~,@+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: 0.4200142 time: 1743039744.483308F (some fields omitted in printout)A\h@A,I[@AK\~? AABF"&"AACqNA"AZAbAjArAzAAAN\H-@Ao{lrA8<JJJJpF&K Y_Z~?yɧLAF7777}9AB)BE[[M@[LbZ~?[֧[[[[BZYY i)  elevatorAngleAction: 0.083926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743039745.743288F (some fields omitted in printout)Aףp= @A.;1@A[[~? Ak AP"&"AAUPqNA"AZAbAjArAzAAAOSd+@AdirA3t@AC9AnAjH@A.A긼?AU<*AՖ9?2Asֽ:ABAՖ9?JAsֽRA٘i)I9t@YG JM<JJJJtF&K Y Z~?y3ǧMAF77ݯ9DB)BE[[Q@[Z~?[٧[[[[BZYY i) 6r YY~?yJǧiNAgHF77779AB)BE[[3S@[Y~?[ڧ[[[[BZYY i) Dƺ elevatorAngleAction: 0.083926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743039747.003296F (some fields omitted in printout)AR@AW z@A[~? Ap A"&"AA;pNA"AZAbAjArAzAAAɅhy)@AF$hrAu@Ax<AAGEAZAwG?A<*AÍ9?2A/ֽ:AhBAÍ9?JA/ֽRAh٘i)I9u@YG J<JJJJxF&K Y!Y~?yxǧMOAF77=9BB)BE[[U@[Y~?[ݧ[[[[BZYY i) m@A[~? A Ae"&"AApNA"AZAbAjArAzAAA>0iF)@A`9grAYv@AQ:AA{~DAcA ?AW<*AU9?2Azֽ:ABAU9?JAzֽRA٘i)I9v@YG Jc<JJJJyF&K YY~?yǧOAF)7ŧ79)BE[[1W@[!Y~?[xߧ[[[[BZYY i) X@[Y~?[Q[[[[BZYY iHQ=) 2 elevatorAngleAction: 0.092928< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743039748.263289F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@Al$ ?@A,c[~? AAg#&"AAiepNA"AZAbAjArAzAAAۙ;8 (@A78grAw@A%KA%:AAAoAW?AF<*A{9?2A- ֽ:AxBA{9?JA- ֽRAxYo3B@%Ay6KٓH`P?`v?{e`??`wd@_?)o3B@ I٘i)I9w@YG Jj<J""JJJ|F&Kw> YaY~?yȧPAAFj7Z79)B}E[[Y@[xY~?[Y[[[[ZZZZ¸>BZYY i¸>'D) pNA"AZAbAjArAzAAA.n'@A]VgrAx@A}4Ar AH@AqAVL?A<*AF9?2AI3ֽ:A? BAF9?JAI3ֽRA? ٘i)I9x@YIG J<JJJJ}F&K YEY~?yɧ QA!F777h9)BzE[[$[@[_Y~?[[[[[ZZZZBZYY i) KA=AkAA<*Aޙ9?2Aֽ:A gBAޙ9?JAֽRA g٘i)I9.z@YDG J =JJJJF&K Y Y~?y˧RA#F{7j79)rBtE[[]@[.Y~?[M[[[[ZZZZBZYY i) QA+AAY@A#L@AbZ~? A Am"&"AAoNA"AZAbAjArAzAAAIγ$@Ae=-grA2{@AQ<A .AsX;A``A`TA<*AĨ9?2Aֽ:A离BAĨ9?JAֽRA离Y5H@`a;y? .R<ٓH@M>8?@ۣ?s!˿C`?z?`=??)5H@ I٘i)I9{@Y2G JT<C=J=JJJF&KPx> YX~?yoΧRAa;&F777ô9)fBqE[[1U`@[tX~?[[[[[ZZZZBZYY i%L) |JJJJF&Kfw> YkLX~?yا}SA4-Fŧ7b7̴9)XBcE[[f@[X~?[[[[[BZYY iGo) :ֽ:Ad<BA9?JA>ֽRAd<٘i)I9}@YJG JJJJJF&K Y1X~?ycۧPSA.F777Sδ9)[[h@[\tX~?[[[[[BZYY i) )5vJ1X~?)cۧvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.068632< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743039753.303303F (some fields omitted in printout)A@A"@An-Z~? AAo"&"AAnNA"AZAbAjArAzAAA_17 @A/V lrArZ}@A<A<]=AkR2A@aA@(ÿA *A9?2Aս:Al=BA9?JAսRAl=٘i)I9Z}@Y3G JJJJJF&K YX~?y ާ"SA0F77д9)YB`E[[ZEi@[`^X~?[[[[[BZYY i) C4 YW~?y)eRA`.4Fb77}մ9)aBWE[[m@[X~?[[[[[BZYY ip) C;IE?i?n< {)){忩<@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039754.603165 s, next control iter: 1743039754.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13253, header.stamp.nsec: 00 temperature: 13.384628* salinity: 33.391647, density: 1025.000000* values[0]: 0.708106F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039754.983165 s.J~,B+AJ"J*J2J:JF5?BJF5?nJ>5vJA\@Ah@AY~? AA!&"AAmNA"AZAbAjArAzAAAѫw@AXqqrA{@A)A=A -A rA0˿A4*A9?2AYֽ:A_=BA9?JAYֽRA_=٘i)I9{@YEG JяJJJJF&K Y)W~?yRA5Fj7j7H״9)eBTE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #83q/S^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) };)CҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039755.023165 s, next control iter: 1743039755.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039755.403165 s.&J~,B+AAQ@AE`@AY~? AAv!&"AAmNA"AZAbAjArAzAAAs:铨y@A~ -rrAO{@A[JAW=A϶+AhNAjͿAc*A9?2A{ֽ:AK =BA9?JA{ֽRAK =٘i)I9O{@YG JJJJJF&K YVW~?yKQA6F7777ٴ9)iB[[o@[nW~?[[[[[BZYY i) !;INE?i@魨< C)) C࿩@lتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039755.443165 s, next control iter: 1743039755.803177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13254, header.stamp.nsec: 00 temperature: 13.384840* salinity: 33.391624, density: 1025.000000* values[0]: 0.707247F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039755.823165 s.J~,BB+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: -0.058616< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743039755.823338F (some fields omitted in printout)AGz@Ago@AYY~? AAz!&"AAmmNA"AZAbAjArAzAAAmO@Apj{trAOz@Ar9A>=A*A#A ϿAޯ*Ag:?2A½:Au =BAg:?JA½RAu =٘i)I9z@YG JҩJJJJF&K YyW~?y>QA8F{7j7ڴ9CB)mBRE[[p@[W~?[D[[[[BZYY i) z$a;I F?i@< ޿))9޿n@ydpܪYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743039755.843165 s, next control iter: 1743039756.223181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039756.243165 s.J~,C+AAףp=J@Aѓ2=@A~Y~? Av!AE!&"AA'mNA"AZAbAjArAzAAA+%@A=qa3vrA^*z@AA2˞=AZ*AA WпA|3*Ar:?2AMý:A.8 =BAr:?JAMýRA.8 =٘i)I9*z@YBG JJJJJF&K Y_W~?ymPA9F77ܴ9)rBOE[[q@[W~?[#[[[[BZYY i) B#;I+F?io @j< ۿ))ۿ@mڪYmYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039756.263165 s, next control iter: 1743039756.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039756.663165 s.J~,q*C+AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13255, header.stamp.nsec: 00 temperature: 13.385108* salinity: 33.391640, density: 1025.000000* values[0]: 0.706227F (some fields omitted in printout)A@A/r@AtfY~? AS$A!&"AAamNA"AZAbAjArAzAAAPu- @A~uwrA?y@A(ݢ;A=A>)A@ A HпAE껼*A:?2A7Ž:Ap=BA:?JA7ŽRAp=Y[@)y=W;ٓH@mX?@ͱޝ޿@[t?@?)[@ I٘i)I9y@YG JչJ!J<JJJF&KK> YFW~?ysPA):F777s޴9)vBLE[[ 3s@[W~?[G([[[[BZYY i) :IJF?i@з< kQٿ))kQٿ@תYVYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039756.683165 s, next control iter: 1743039757.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039757.083165 s.DJ~,SEC+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058616< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743039757.083329F (some fields omitted in printout)A)\µ@A캷@A0NY~? AM'A &"AAFŧ779BB)BFE[[v@[W~?[6[[[[BZYY i) *I9F?i@< _ҿ))_ҿC@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039757.963165 s, next control iter: 1743039758.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039758.343165 s. YV~?ypNA"AF77j7h9AB)B@E[[@y@[_W~?[r@[[[[BZYY i) EIF?ic#@"< 5Ϳ))5Ϳs•@.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039758.803165 s, next control iter: 1743039759.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039759.183165 s.J~,kC+AJ"J*J2J:JBJnJvJA(\@A`@AX~? A48A&"AAlNA"AZAbAjArAzAAA9@A^rA+v@A XAԈ=AR!AAտAP*Av:?2Aܔӽ:A<BAv:?JAܔӽRA<٘i)I9+v@YG JJJJJF&K Y0V~?yzNABFj7Z739BB)BAE[[6uz@[nNW~?[E[[[[BZYY i) 6IG?i&@< ʿ))ʿ\@yYFFF]Waiting for Gazebo time sync: latest Gz time: 1743039759.203165 s, next control iter: 1743039759.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039759.603165 s.<4J~,ÚC+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067441< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743039759.603301F (some fields omitted in printout)AQ@A0EH@AX~? A<AL&"AA^dlNA"AZAbAjArAzAAAۏyS"@AOhrAmu@AVAv=A8 AAֿAX*A:?2A}Խ:Ab<BA:?JA}ԽRAb<٘i)I9u@YG JJJJJF&K YܝV~?yqMADF7ŧ791B)B>E[[|{@[=W~?[J[[[[BZYY i) 蠻Il:G?i*@{< hȿ))hȿ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039759.623165 s, next control iter: 1743039760.003181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13258 , header.stamp.nsec: 0 0 temperature: 13.385884 * salinity: 33.391617 , density: 1025.000000 * values[0]: 0.703080 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039760.023165 s.J "J *J 2J :J 3?BJ 3?ZJ~nJ<5vJ,|D+AAHz.@AE !@AũX~? A?Av&"AAAlNA"AZAbAjArAzAAA(%@AS/҈rAb6u@AD9Aԑ=AIArA!g׿A *Az:?2A\ ս:A<BAz:?JA\ սRA<٘i)I96u@Y>G JHJJJJF&K YV~?yiYMAEF779)B;E[[|@[M-W~?[P[[[[BZYY i) $濻I`G?i/@< [ƿ))[ƿč@_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039760.063165 s, next control iter: 1743039760.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039760.443165 s..J~,]D+AAq= c@AFV@A7D+AJ"J*J2J:J3?BJ3?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076183< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200552 time: 1743039760.863319F (some fields omitted in printout)A@Aph@A|X~? AJHA`&"AAEkNA"AZAbAjArAzAAAb%R$ @ArAeAt@A2TX<A=A!A@ AAٿA*A^k:?2Aս:AM=BA^k:?JAսRAM=Yh@y=(X<ٓH\?@#խK`LneR ??)h@ I٘i)I9At@YG JYB=JƻJJJF&K|> YYV~?y)LAHF7)7^9)B[[6@[ W~?[Z[[[[BZYY i) IG?i6@< 7J))7JM@䷪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039760.903165 s, next control iter: 1743039761.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039761.283165 s.;RJ~,RD+AA(\@A^ P@AfX~? ALA &"AAkNA"AZAbAjArAzAAAj@@A2h㑐rAs@A'<A 5=AAQAQٿA4،*Ab:?2Aabֽ:A}=BAb:?JAabֽRA}=٘i)I9s@Y`G J~C=JJJJF&K YDV~?y.HLAIFZ7Z7(9)B5E[[3@[@V~?[D`[[[[BZYY i) OIG?i9@<  뾿)) 뾿U@y蛽YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039761.323165 s, next control iter: 1743039761.683176 s, wait time: 0.360011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 132602, header.stamp.nsec: 020 temperature: 13.3863252* salinity: 33.3915902, density: 1025.0000002* values[0]: 0.7013652F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039761.703165 s.׺J~,mD+AJ"J*J2J:J3?BJ3?nJE<5vJAQ@A R@AMQX~? A+QA&"AAkNA"AZAbAjArAzAAAy@AW!jRrATs@Aq:AՔ=AsAlA>ڿAZF*AY:?2Aֽ:A#=BAY:?JAֽRA#=٘i)I9Ts@YG JJJJJF&K Y.V~?yv4KAJF779)B3E[[ʀ@[LV~?[e[[[[BZYY i) NIG?iv=@B< 3))3@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039761.743165 s, next control iter: 1743039762.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039762.123165 s.G!J~,D+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076183< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200572 time: 1743039762.123336F (some fields omitted in printout)AG:@A-@A;X~? AUA9]&"AAkNA"AZAbAjArAzAAAo@AI^(rAr@AA=AA@$AkۿA*AQ:?2A_׽:A=BAQ:?JA_׽RA=٘i)I9r@YG J JJJJF&K YV~?y(:KALF77779)B[[_@[V~?[sk[[[[BZYY i) -IB(H?iA@< 7))7@dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039762.163165 s, next control iter: 1743039762.523182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743039762.543165 s.I(J~,âD+AJ"J*J2J:Jq3?BJq3?nJ(<5vJA= ףp@AIc@A&X~? AZAJ&"AAykNA"AZAbAjArAzAAA`@AsrA$qr@A QAuI=AA@A`3ܿA*AH:?2A׽:A=BAH:?JA׽RA=٘i)I9qr@YG JJJJJF&K YlV~?y?;KAMF)7ŧ79)B0E[[@[V~?[q[[[[BZYY i) r=IRH?iE@W< ䷿))䷿@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039762.583165 s, next control iter: 1743039762.943194 s, wait time: 0.360029 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13261, header.stamp.nsec: 00 temperature: 13.386542* salinity: 33.391579, density: 1025.000000* values[0]: 0.700556F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039762.963165 s.w.J~,줽D+AAffff@A[@AX~? A_A&"AAZkNA"AZAbAjArAzAAAT z?A {9rAvq@ANt;A<=ALuAA@ܿA*AA:?2A}׽:AH=BAA:?JA}׽RAH=Y(n@nyD:=;ٓH?`_z%Tޭ@㱿@hnp?)(n@ I٘i)I9q@YHG JJ\8<JJJF&K1z> YU~?y4FJANFŧ77S9/B)B,E[[M@[V~?[v[[[[BZYY i) WLI}H?iH@[= K))KH@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039763.003165 s, next control iter: 1743039763.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039763.383165 s.5J~,D+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: -0.076183< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743039763.383280F (some fields omitted in printout)A(@A@AW~? AdAA&"AA:kNA"AZAbAjArAzAAAɬ?A6/'rAq@A(Ar2=A#/ABAXݿA\*A9:?2A6׽:Ap=BA9:?JA6׽RAp=٘i)I9q@YG JᏼJJJJF&K YKU~?yL{JAPF79)B[[ @[MV~?[|[[[[BZYY i)  I\IH?iK@K= 3))3B@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039763.403165 s, next control iter: 1743039763.783174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13262", header.stamp.nsec: 0"0 temperature: 13.386742"* salinity: 33.391563", density: 1025.000000"* values[0]: 0.699763"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039763.803165 s.sA Y6U~?yfHAUF)7b7I9)B[[:q@[YV~?[[[[[BZYY i) Ii]Y@ = ))򩿩5@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039765.103165 s, next control iter: 1743039765.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039765.483165 s.z_WJ~,^E+AA\@Af(@AלW~? AA7&"AAjNA"AZAbAjArAzAAAk`K?AyάrAn@A%WAG=A' A/AQAI़*A:?2Aq}׽:AQ=BA:?JAq}׽RAQ=٘i)I9n@Y`G J)JJJJF&K Y~U~?y{mHAVFb779)B$E[[@[yV~?[[[[[BZYY i) @Ii$\@ = o))o&@yB3تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039765.503165 s, next control iter: 1743039765.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13264, header.stamp.nsec: 00 temperature: 13.387203* salinity: 33.391548, density: 1025.000000* values[0]: 0.697892F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039765.903165 s.+]J~,6yE+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085103< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743039765.903330F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A@AW~? AcA*&"AAjNA"AZAbAjArAzAAA*90?Ax2rARn@A4AH=AM AKA`A*A :?2A׽:A a=BA :?JA׽RA a=٘i)I9Rn@Y G JB=JJJJF&K YrmU~?ykt"HAXF779)B"E[[@[nV~?[ࠨ[[[[BZYY i) ǛIiL_@= #W))#W@EܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039765.943165 s, next control iter: 1743039766.303176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039766.323165 s.wdJ~,)E+AAGzT@AnG@AxW~? AGAiV&"AA?ojNA"AZAbAjArAzAAA H{$hI?ATʶrA&m@AySA=AU A߿AmHA*A.:?2Ax׽:AC=BA.:?JAx׽RAC=٘i)I9m@YG J槼C=JJJJF&K Y\U~?yZ{GAYFŧ7b79)B[[6*@[cV~?[ [[[[BZYY i) MIib@,= ))1L@YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743039766.343165 s, next control iter: 1743039766.723179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13265*, header.stamp.nsec: 0*0 temperature: 13.387453** salinity: 33.391541., density: 1025.000000.* values[0]: 0.696941.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039766.743165 s.WkJ~,dE+AJ"J*J2J:JBJnJvJAףp=@An½2}@A9gW~? AFAw&"AAoTjNA"AZAbAjArAzAAA"H׬ARtrA3m@AYXA=A A+߿AA*A9?2AlM׽:A] =BA9?JAlM׽RA] =٘i)I93m@Y]G JﭼJJJJF&K YJU~?yJSGAZF777s 9)ůBE[[@[xYV~?[A[[[[BZYY i) AժIif@%= {ɠ)){ɠ|ݠ@eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039766.763165 s, next control iter: 1743039767.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039767.163165 s.w}rJ~,qE+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085103< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743039767.163282F (some fields omitted in printout)A@As@A#VW~? AaAfl&"AA7:jNA"AZAbAjArAzAAAIпA/..rAxl@A[H:A!=AtA0s޿A@)AJ>*A9?2Aֽ:Ad=BA9?JAֽRAd=Y{@sy=̕:ٓH?G{cұ`"<@ R?`?){@ I٘i)I9l@YG JζJ<JJJF&K}x> Y;U~?yFAs\F77{7> 9)ʯB[[N@[dOV~?[[[[[BZYY i) 'Iih@ = +))+p@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039767.183165 s, next control iter: 1743039767.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039767.583165 s.xJ~, SE+AJ"J*J2J:JH2?BJH2?nJ:5vJA)\@Aۻ@AuEW~? AAD&"AA jNA"AZAbAjArAzAAA9XbF-2ݿArAk@AVA<A=A2AݿA4A=.ż*A9?2ALֽ:A=BA9?JALֽRA=I٘i)I9k@YG JMB=JJJJF&K Y,U~?y0nFA]Fb7b7 9)ϯBE[[$@[EV~?[鹨[[[[BZYY i)  {Iibk@= 6))6@\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039767.603165 s, next control iter: 1743039767.983181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13266, header.stamp.nsec: 00 temperature: 13.387687* salinity: 33.391533, density: 1025.000000* values[0]: 0.695889F (some fields omitted in printout)F,U~?)F0 rAdjusting time to match Gazebo time: 1743039768.003165 s.w J~,H4F+AAR+@Af.py@A/5W~? A磩Az&"AAjNA"AZAbAjArAzAAAȚ+A{rAOk@A$X<Aܮ=AKAܿA1A_˼*Ad9?2Aֽ:A4=BAd9?JAֽRA4=٘i)I9Ok@Y7G JTȼC=JJJJF&K YU~?yEA^Fŧ79)կB[[qq@[rDg?)@ I٘i)I9Hi@Y G J:μB=J-<JJJF&Kx> YT~?yjDAbF7749)B[["@["V~?[Ө[[[[BZYY i) ּIiw@k= /,))/,D@?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039769.283165 s, next control iter: 1743039769.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 132682, header.stamp.nsec: 020 temperature: 13.3882722* salinity: 33.3915062, density: 1025.0000002* values[0]: 0.6935322F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039769.683165 s.lJ~,ckF+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085103< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743039769.683295F (some fields omitted in printout)A(\@AD@AaV~? A"A}&"AA iNA"AZAbAjArAzAAA\NKyA0rA-h@ASAP=AA[ٿA Anvϼ*A 9?2Ay׽:AE=BA 9?JAy׽RAE=٘i)I9h@Y G JμC=JJJJF&K YT~?yK'DAdF{79)BE[[>@[7V~?[ڨ[[[[BZYY i) ݼIi8y@n= ꐿ))ꐿ9դ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039769.683165 s, next control iter: 1743039770.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743039770.103165 s.J~,ȚF+AJ"J*J2J:JBJnJvJAQ8@AmJ+@AHV~? AĩAK&"AAPiNA"AZAbAjArAzAAAq5A[(rAg@A@6A=AAaٿA0A.Ӽ*Ad9?2AC׽:A=BAd9?JAC׽RA=٘i)I9g@Y& G JѼB=JJJJF&K YT~?y.CAeF77{79)B[[7C@[V~?[[[[[ZZ¸BZYY i¸8=) ѼIi{@0)!= ))2e@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039770.123165 s, next control iter: 1743039770.503182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743039770.523165 s.J~,{F+AAHzn@Atxa@AV~? A˩At&"AACiNA"AZAbAjArAzAAA!${,)Ae.rA7g@ACbA]ƶ=AIA3ؿAAټ*A9?2A^ֽ:AK=BA9?JA^ֽRAK=٘i)I97g@Y G J.ּC=JJJJF&K YT~?yǨ7CAfFj7Z79.B)BE[[fҌ@[ V~?[#[[[[ZZBZYY i) TżIi~@#= m))ma@+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039770.543165 s, next control iter: 1743039770.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13269, header.stamp.nsec: 00 temperature: 13.388548* salinity: 33.391487, density: 1025.000000* values[0]: 0.692283F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039770.943165 s.WdJ~,>]F+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083527< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743039770.943279F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף@A. Ζ@AqV~? AҩA&"AAjiNA"AZAbAjArAzAAA s+ATemrAlf@A;A@=AJ|AG`׿AYA*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9lf@Y= G JJJJJF&K YT~?yΨBAhF777^9)B[[`@[TV~?[[[[[ZZBZYY i) aʹIi@0%= 3))3킦@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039770.963165 s, next control iter: 1743039771.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039771.363165 s.J~,>F+AA@AU@AV~? A٩ASe&"AA7WiNA"AZAbAjArAzAAA*̦q A!(rA݊e@AZG<AI=A]AֿAAb*A9?2Aqֽ:A[<BA9?JAqֽRA[ Y5T~?y1רXBAiF7)90B)BE[[@[V~?[Q[[[[ZZBZYY i)  IiӁ@-&= ))􇿩@y p=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039771.403165 s, next control iter: 1743039771.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13270&, header.stamp.nsec: 0&0 temperature: 13.388895&* salinity: 33.391483&, density: 1025.000000&* values[0]: 0.690886&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039771.783165 s.WJ~,F+AJ"J*J2J:J0?BJ0?nJu95vJA(\@AXP@AoV~? AA5&"AA3ASrAd@AM?<ADt=ASSA`տA(A *A9?2Aщֽ:ABo<BA9?JAщֽRABo<٘i)I9d@Y. G JJJJJJF&K YUT~?yoߨAAkF{7{79/B) BE[[@[:U~?[[[[[ZZBZYY i) lxIiȂ@jg'= {)){@5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039771.803165 s, next control iter: 1743039772.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039772.203165 s.J~, G+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083527< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743039772.203316F (some fields omitted in printout)AQE@AԶa8@AV~? AAO&"AA1iNA"AZAbAjArAzAAAcQAurAc@AN;A.=AA@ԿAiAOyѼ*Aa9?2Aֽ:As;BAa9?JAֽRAs;٘i)I9c@Y G JfJJJJF&K YsT~?yAAlF7 9)B[[@[U~?[[[[[ZZBZYY i) ΖIi@(= {)){0@uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039772.243165 s, next control iter: 1743039772.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039772.623165 s.[J~,m'G+AJ"J*J2J:JBJnJvJAGz@Am@AKV~? A`Ao&"AAc iNA"AZAbAjArAzAAA)EdA9rAJc@A} A|<A! A -ԿA`;A禼*AD9?2Ajֽ:A#BAD9?JAjֽRA#٘i)I9Jc@YU G JJJJHFJF&K YT~?y$AAmFj7j7"9)B[[%@[U~?[H[[[[ZZBZYY i)  &IiB@`*= B))B @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039772.663165 s, next control iter: 1743039773.023180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13271, header.stamp.nsec: 00 temperature: 13.389268* salinity: 33.391479, density: 1025.000000 * values[0]: 0.689406 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039773.043165 s.J~,BG+AA= ף@AƄ@ApV~? AA3&"AAiNA"AZAbAjArAzAAA}~`kA8_rAb@ATMA{* <ApA@J$ӿAOoAiw*A9?2AQֽ:A='BA9?JAQֽRA='٘i)I9b@Y G J:JJJJF&K YT~?y-@AoF77T$9-B)BE[[*@[U~?[[[[[ZZBZYY i) ~IiƆ@,= ~))~L@wXYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039773.063165 s, next control iter: 1743039773.443185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743039773.463165 s.RJ~,פ]G+AJ"J*J2J:JW0?BJW0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083527< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743039773.463283F (some fields omitted in printout)Affff@AT^@AV~? AA&"AAihNA"AZAbAjArAzAAA%NgArAsb@ABT`A۩ABA@DҿA ATv&*A9?2Ayֽ:AfBA9?JAyֽRAfY@y?黙U`ٓH5п?+ӎ?` 7пl?w4}?N ?)@ I٘i)I9sb@Y G JeUB=J'GJJJF&K6w> YT~?y@ApFŧ7b7&9)B[[ǹ@[U~?[[[[[ZZBZYY i G{=) L"lIid@M-= Šy))Šy۩@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039773.503165 s, next control iter: 1743039773.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13272, header.stamp.nsec: 00 temperature: 13.389482* salinity: 33.391464, density: 1025.000000* values[0]: 0.688402F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039773.883165 s.yJ~,@xG+AA(@AL!@A+V~? AA&"AAhNA"AZAbAjArAzAAAU,WA gxtsAA;b@A*AܯA>A`aѿAA-*A]9?2Aֽ:A̴BA]9?JAֽRA̴٘i)I9;b@Y G JC=JJJJF&K YXT~?yB @AqF{7{7'9)B[[gH@[U~?[n[[[[ZZBZYY i=) QYIi3@U.= +u))+ubj@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039773.903165 s, next control iter: 1743039774.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039774.303165 s.UJ~,sgG+AJ"J*J2J:JBJnJvJAQ@A7D@AvV~? A AN&"AA`hNA"AZAbAjArAzAAA ;A:j sAB#b@A:A~ AcA@{пAyAeX*A9?2Aֽ:AeμBA9?JAֽRAeμ٘i)I9#b@Y G JdJJJJF&K Y,zT~?y@AsF77)9)BE[[֑@[U~?[.#[[[[BZYY i) /FIi1@)/=  p)) p@9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039774.323165 s, next control iter: 1743039774.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13273., header.stamp.nsec: 0.0 temperature: 13.389557.* salinity: 33.391441., density: 1025.000000.* values[0]: 0.688086.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039774.723165 s.J~,HG+AvPublished 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: 0.4200152 time: 1743039774.723294F (some fields omitted in printout)Az@AqTnz@AmV~? AA&"AA|hNA"AZAbAjArAzAAAT(,Ah`ʯ sA)b@A-'<Ay5AsAl'ϿA&A1?;*A99?2AR׽:A1BA99?JAR׽RA1缙٘i)I9)b@Y G J2]:JJJJF&K YsT~?yV@AtF~+9)[[Kd@[U~?[)[[[[BZYY i) ٭3Ii^@1= Ll))LlF@y=t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039774.763165 s, next control iter: 1743039775.123180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039775.143165 s.T/J~,)G+AJ"J*J2J:JBJnJvJA ףp@A#Ed@A|eV~? A\AW&"AA[hNA"AZAbAjArAzAAAAUA8ZsAHb@ANW<AVZAS߿A XVͿA(NAf;*A9?2A} ׽:Ae\BA9?JA} ׽RAe\٘i)I9Hb@Y G J;JJJJF&K YkT~?y"@AuFb77I-9,B)BE[[i@["U~?[0[[[[BZYY i) r Ii@n2= g))gd@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039775.163165 s, next control iter: 1743039775.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039775.563165 s.J~,N G+AA3333@A@)@A]V~? A$A) &"AAhNA"AZAbAjArAzAAA ARn{ sAb@A<AS.zAܿA˿ArA1?+<*Ak9?2Akֽ:AwBAk9?JAkֽRAwY"؊@ܿy+z<ٓH Nÿ?>?`zÿז?`}@?`p?`d?)"؊@ I٘i)I9b@Y G J <B=J~JJJF&Kw> Y|gT~?y+CAAܿwF77/9)B[[!@[U~?[n7[[[[BZYY i=Zh=) Ii0@Jq3= uc))uc@D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039775.603165 s, next control iter: 1743039775.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13274, header.stamp.nsec: 00 temperature: 13.389527* salinity: 33.391460, density: 1025.000000* values[0]: 0.688280F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039775.983165 s.J~,G+AJ"J*J2J:J30?BJ30?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056727< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743039775.983306F (some fields omitted in printout)A\(@A@A5VV~? A+Am+ &"AA_hNA"AZAbAjArAzAAAmyP A<sAb@AfApۉAu9ڿA@ϵɿAഔA7d<*A 9?2Azֽ:A&BA 9?JAzֽRA&٘i)I9b@Y G JE<C=JJJJF&K Y$cT~?yJ4AAxFb7709)BE[[ @[U~?[4>[[[[BZYY i) $IiԌ@C4=  _)) _.@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039776.023165 s, next control iter: 1743039776.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039776.403165 s.&J~,H+AAQ^@At Q@ASOV~? A3A̓ &"AAhNA"AZAbAjArAzAAA\ A5sACAc@AAAZ׿AǿAiA[͎<*Aa9?2A0ֽ:ABAa9?JA0ֽRA٘i)I9Ac@YO G J<B=JJJJF&K Y^T~?y=AAyF{7j729)B[[@[U~?[D[[[[BZYY i) Ii@R5= Z))Z@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039776.443165 s, next control iter: 1743039776.803176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13275", header.stamp.nsec: 0"0 temperature: 13.389403"* salinity: 33.391411", density: 1025.000000"* values[0]: 0.688958"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039776.823165 s. J~,\4H+AJ"J*J2J:J_0?BJ_0?nJ85vJAGz@Apq@AHV~? Al;AS &"AAnhNA"AZAbAjArAzAAA/@?o A1P"sAMc@A+]AYAT$տA$ ƿARA`z<*A 9?2A#ֽ:A$TBA 9?JA#ֽRA$T٘i)I9c@Y G J<C=JJJJF&K YsZT~?yE?BA{F7777t49)B[[U&@[U~?[K[[[[BZYY iEE=) c»Ii@6= U elevatorAngleAction: 0.066050< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743039777.243312F (some fields omitted in printout)Aףp=@A U1@ACV~? AKCAb &"AAhNA"AZAbAjArAzAAA AF'sAMd@AX1AAeҿA=0ĿA`OA߁<*A49?2A]ֽ:A3lBA49?JA]ֽRA3l٘i)I9Md@Y G JE<JJJJF&K YVT~?yhNBA|F7>69) B[[}@[U~?[wR[[[[BZYY i) -Iiݏ@3%8= Q))QxԮ@yh=l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039777.263165 s, next control iter: 1743039777.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039777.663165 s.J~,qjH+AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13276, header.stamp.nsec: 00 temperature: 13.572648* salinity: 33.374996, density: 1025.000000* values[0]: 0.568290F (some fields omitted in printout)A@A@A=V~? A3KA &"AAhNA"AZAbAjArAzAAA&IS A1X+sAd@A AAϿA]M¿A A<*A9?2Aֽ:A BA9?JAֽRA Y@Ͽy=!ٓH $٪@?Wz? D,@I?"Y?d`?)@ I٘i)I9d@YK G J<JJJJF&Kx> YTT~?y3WBAϿ}F 89)BE[[7?@[+U~?[;Y[[[[BZYY i) Ii&@8= EuM))EuM2a@y예= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039777.683165 s, next control iter: 1743039778.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039778.083165 s.D!J~,SH+AA)\5@AOZ(@A8V~? A#SA_- &"AAhNA"AZAbAjArAzAAAH^j> AYY0sA oe@A;AAwͿA fAA6<*A9?2A׽:ABA9?JA׽RA٘i)I9oe@Y G J̫<JJJJF&K Y"ST~?y_cCAF{7{799)B[[˖@[U~?[_[[[[BZYY i) MIi@!9=  I)) I@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039778.103165 s, next control iter: 1743039778.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039778.503165 s.'J~,Y4H+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: 0.4199812 time: 1743039778.503294F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@AXy^@A4V~? A[A &"AAxhNA"AZAbAjArAzAAA=^ A\/5sAe@A.V<A AtʿAAv3A<*A9?2A 4׽:ABA9?JA 4׽RA٘i)I9e@Y G J<JJJJF&K YQT~?yhCAFb77;9)B[[eƿ[*U~?[f[[[[BZYY i) IiG@9= D))DD;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039778.543165 s, next control iter: 1743039778.903181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13277, header.stamp.nsec: 00 temperature: 13.572396* salinity: 33.374996, density: 1025.000000* values[0]: 0.568925F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039778.923165 s.@.J~,H+AA{G@A;@A0V~? AcA?&"AArhNA"AZAbAjArAzAAAf]ӷ AsM:sAf@AUE<A.AVǿA`O4AKEA{ר<*A9?2A׽:A=wBA9?JA׽RA=w٘i)I9f@YP G Jݨ<JJJJF&K Y*PT~?yq3DAFi=9)BE[[Ŀ[U~?[xm[[[[BZYY i)  Ii@x;= {O@)){O@{O@f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039778.943165 s, next control iter: 1743039779.323183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743039779.343165 s.<5J~,H+AJ"J*J2J:JBJnJvJAp= @A@A-V~? AkAY&"AAnmhNA"AZAbAjArAzAAA;?x\)A\l?sAg@Aћ;AuA>SſA`=oA@TA?<*A9?2A#ֽ:AnBA9?JA#ֽRAn٘i)I9g@Y G Jo<JJJJF&K YNT~?y\zDAFb74?9+B)BE[[¿[U~?[-t[[[[BZYY i) BʹIi#@U<= /;))/;/;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039779.363165 s, next control iter: 1743039779.743174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13278*, header.stamp.nsec: 0*0 temperature: 13.572144** salinity: 33.374977*, density: 1025.000000** values[0]: 0.569588*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039779.763165 s.6;J~,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: 0.4200172 time: 1743039779.763280F (some fields omitted in printout)A @AY@A*V~? A&sA=&"AAhhNA"AZAbAjArAzAAAch[kAnM YPT~?y(DA¿FZ7Z7@9,B)BE[[)Q[U~?[z[[[[BZYY i) Oj:Ii@@z<= w7))w7w7A*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039779.803165 s, next control iter: 1743039780.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039780.183165 s.BJ~,o I+AJ"J*J2J:J?BJ?nJ5vJA(\B@AmW5@A(V~? A3{A1 &"AAehNA"AZAbAjArAzAAAvWҴA^4r>IsA9h@ApGA,ADA̫A kA+̪<*A9?2A0Vֽ:ABA9?JA0VֽRA٘i)I99h@YV G J~<JJJJF&K YuQT~?ybEAFŧ7b7B9)B[[a![U~?[[[[[BZYY i) :Ii@%<= 23))2323*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039780.223165 s, next control iter: 1743039780.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039780.603165 s.@4IJ~,Ԛ&I+AAQx@A{Gk@A'V~? ACAނ&"AA!bhNA"AZAbAjArAzAAA}UANe*NsAh@AjRAYJA1A!1AsAZ<*A9?2A`oֽ:A`BA9?JA`oֽRA`٘i)I9h@Y G JD<JJJJF&K YRT~?yEAF77D9)BE[[+[U~?[O[[[[BZYY i) k;Ii@Iy== {.)){.{.S*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039780.623165 s, next control iter: 1743039781.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13279 , header.stamp.nsec: 0 0 temperature: 13.571877 * salinity: 33.374989 , density: 1025.000000 * values[0]: 0.570245 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039781.023165 s.ZPJ~,|AI+AJ"J*J2J:JBJnJvJvPublished 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: 0.4199712 time: 1743039781.023291F (some fields omitted in printout)AHz@Ag@A%V~? AVAR&"AA_hNA"AZAbAjArAzAAA!AN|SsAVQi@A)޻AiA@A AyA)<*A9?2AXֽ:AjBA9?JAXֽRAj٘i)I9Qi@YG JУ<JJJJF&K Y= Cx*))Cx*Cx**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039781.063165 s, next control iter: 1743039781.423181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743039781.443165 s.6VJ~,:]\I+AAq= @A@A@%V~? AjAG&"AA^hNA"AZAbAjArAzAAAW6A.,XsAXi@A*O>;AOANA`#A@|AH<*A9?2A ׽:A.BA9?JA ׽RA.٘i)I9i@YPG J<B=JJJJF&K YUT~?yUFAFb7b7)H9)ݯB[[[U~?[[[[[BZYY i) ;Ii@f?= O&))O&O&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039781.463165 s, next control iter: 1743039781.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13280, header.stamp.nsec: 00 temperature: 13.571638* salinity: 33.374992, density: 1025.000000* values[0]: 0.570877F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039781.863165 s.+]J~,>wI+AJ"J*J2J:JBJnJvJA@AQ @A,%V~? AA֩&"AA ^hNA"AZAbAjArAzAAAAK\sAPj@ANv5<AtAA`w?A9}A7<*A9?2A>׽:ABA9?JA>׽RAYQ@㹵yq5<ٓH 98?L?~ཐ`Z?k? ?@?`R?)Q@ I٘i)I9Pj@YG J<C=Jc<JJJF&KJx> YYT~?y FAF{7j7I9)گB[[h[U~?[F[[[[BZYY iX=) ];Iiw@Q?= ?!))?!?!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039781.883165 s, next control iter: 1743039782.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039782.283165 s.9RdJ~,I+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076514< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743039782.283288F (some fields omitted in printout)A(\O@A%PB@A%V~? AA &"AAK^hNA"AZAbAjArAzAAAvgAasAj@A\<AAAFJ?A {A?<*A9?2A8׽:ABA9?JA8׽RA𼙘٘i)I9j@YG J2<JJJJF&K Y ^T~?yDGAFK9)֯BE[[s:[SU~?[墩[[[[BZYY i) ;Ii@Mx?=  e)) e e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039782.323165 s, next control iter: 1743039782.683181 s, wait time: 0.360016 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13281., header.stamp.nsec: 0.0 temperature: 13.571392.* salinity: 33.375008., density: 1025.000000.* values[0]: 0.571469.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039782.703165 s.պjJ~, I+AJ"J*J2J:JBJnJvJAQ@A<x@A&V~? AAJn&"AA[_hNA"AZAbAjArAzAAA+j諵Ak_nfsA0=:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039783.163165 s, next control iter: 1743039783.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039783.543165 s.IxJ~,I+AJ"J*J2J:J\?BJ\?nJx5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076514< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743039783.543327F (some fields omitted in printout)A= ף@AöE@A,*V~? AƻA=3&"AAchNA"AZAbAjArAzAAA0 "|A]ǨpsAS%l@AA盈AbA?A`dA6%<*Ax9?2Akֽ:ABAx9?JAkֽRAI٘i)I9%l@YG J<JJJJF&K YjT~?yѩWHAFb7b7Q9-B)̯BE[[[U~?[[[[[BZYY i) tA YqT~?yeکHAF77R9.B)ɯBE[[[U~?[#[[[[BZYY i)  # AVvzsAm@A*AA-AD?A@IA,Đ<*A9?2Aѓֽ:ABA9?JAѓֽRA٘i)I9m@YLG J<JJJJF&K YyT~?yIAFj7Z7T9)ůB[[cX[ U~?[é[[[[BZYY i) ō2 elevatorAngleAction: 0.076514< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743039784.803301F (some fields omitted in printout)A@A@Am3V~? AӪA\&"AAphNA"AZAbAjArAzAAAz* AZiYsAJm@A4A3Aj~A?A`:8A Ï<*A9?2Aֽ:A]BA9?JAֽRA]٘i)I9m@YG J]<JJJJF&K YT~?ysnIAF{7j7V9)B[[-+[U~?[ʩ[[[[BZYY i) Be@A= elevatorAngleAction: 0.076514< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743039786.063275F (some fields omitted in printout)A33333@AP)&@AnAV~? AAT%"AAhNA"AZAbAjArAzAAA64H A9/sAEn@A]?<AAAh?A@AV<*A9?2Aw׽:A+ BA9?JAw׽RA+ Y\"@yYE?<ٓH*?(? uF?{?H? ? ?)\"@ I٘i)I9n@YtG J+<JYJJJF&K8x> YT~?yJAF7)7[9/B)BE[[[V~?[Kݩ[[[[BZYY i) Apx))>x쾩>x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039786.103165 s, next control iter: 1743039786.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039786.483165 s.v_J~,J+AA\h@A=|[@A$GV~? AA%"AAŒhNA"AZAbAjArAzAAAĪ A\sA@~o@A(;ACAA?A A><*A 9?2Aֽ:Av6 BA 9?JAֽRAv6 ٘i)I9~o@YG J<JJJJF&K YաT~?y JAF77]9)B[[Sy[V~?[[[[[BZYY i) r elevatorAngleAction: 0.085519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199262 time: 1743039787.323282F (some fields omitted in printout)AGz@Ar@ATV~? A4A%"AAhNA"AZAbAjArAzAAAKƒ A;*KBsAp@ALA.AA@:?AA2&<*A:9?2A>ֽ:A{BA:9?JA>ֽRA{٘i)I9p@YlG J<JJJJF&K YrT~?yKAF77{7?a91B)B!E[[['V~?[+[[[[BZYY i)  YT~?y-LAF{7d9)B[[Sǔ[7V~?[[[[[BZYY i) j elevatorAngleAction: 0.085519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743039788.583278F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@A7Rh@AKkV~? ATA%"AAthNA"AZAbAjArAzAAA᥺PA[^ _sA\Fr@Ab;AhA A@и?Aa-Aԫ<*A!9?2A׽:AWBA!9?JA׽RAW٘i)I9Fr@YtG J!<JJJJF&K Y#T~?y5LAF7f92B)B%E[[[@V~?[[[[[BZYY i) rK))>K>K)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039788.623165 s, next control iter: 1743039788.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13287, header.stamp.nsec: 00 temperature: 13.569838* salinity: 33.375027, density: 1025.000000* values[0]: 0.575097F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039789.003165 s.x J~,L4@K+AAR@A $y@A tV~? A!Ac%"AANhNA"AZAbAjArAzAAAVi#bk|AOjSsAr@A9<AsAHMAE?A "A<*A9?2A6׽:AjRBA9?JA6׽RAjR٘i)I9r@YG J2<JJJJF&K YT~?y}=^MAF77jh9)B[[{m[IV~?[[[[[BZYY i) Y elevatorAngleAction: 0.085519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743039789.843331F (some fields omitted in printout)Ap= @AS @A V~? A0A<%"AAGhNA"AZAbAjArAzAAA·C?A`h0sAt@A3<AtA Ac ?A mA,<*AC9?2Aֽ:A$VBAC9?JAֽRA$V٘i)I9t@YG J<C=JJJJF&K YxT~?yJM4NAFZ7Z7k9)B[[s[\V~?[[[[[BZYY i) ٻ Yi U~?yTNAF{7j7m94B)B)E[[承[fV~?[[[[[BZYY i)  = Ō))ŌŌ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039790.683165 s, next control iter: 1743039791.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743039791.103165 s.J~,K+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743039791.103278F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AkF@A&V~? AGA%"AAiNA"AZAbAjArAzAAAw};֤A2sAu@A7K]A<AZyA@f?AVA^<*A9?2AGֽ:ABA9?JAGֽRA٘i)I9u@YG J<JJJJF&K YL*U~?ycOAF777_q9)B[[#[{V~?[_&[[[[BZYY i) ϰL+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743039792.363319F (some fields omitted in printout)AY@A(\L@AV~? An\A|%"AAOiNA"AZAbAjArAzAAAiǟ׍eAVθsAx@AP<A+A;hAZ+?A`cAV<*Aĉ9?2A ׽:ABAĉ9?JA ׽RAY@(iy<ٓH >?C?`\.@K?+??@ ʀ? ?)@ I٘i)I9x@YG J<JJJJ F&K9x> YzYU~?yyPA(iF{7{7v98B)wB3E[[~[V~?[7[[[[ZZZZ¸>BZYY i¸>) 6<= S))SS,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039792.383165 s, next control iter: 1743039792.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13291&, header.stamp.nsec: 0&0 temperature: 13.568474&* salinity: 33.375042&, density: 1025.000000&* values[0]: 0.578238&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039792.783165 s.T J~,2L+AJ"J*J2J:J?BJ?nJ85vJA(\@A/Q@AV~? AgcAi^%"AAciNA"AZAbAjArAzAAA6A CsAx@A Y<AAxcA0?A@h%AG<*A]9?2A ׽:ABA]9?JA ׽RA٘i)I9x@Y_G J<JJJJ F&K YjU~?y}lQAF)7ŧ7x9)rB[[ϣy[V~?[=[[[[ZZZZBZYY i) --W~? Am~AK%"AAiNA"AZAbAjArAzAAAb.AİUxsAC{@AK=AA;0Au>OA*?AbA<*A9?2A$oֽ:A ջBA9?JA$oֽRA ջY&)@Oy0NkAٓH? c*?ŵj"?U#??'?)&)@ I٘i)I9{@YTG J<B=J=JJJF&Kw> Y,U~?ySAOF779;B)\B=E[[Kh[V~?[R[[[[ZZZZBZYY i{) EsAB)DE[[|V[W~?[g[[[[ZZZZBZYY i) 1\=+W<ٓH1M?? JJJF&Kv> YV~?ySA.5F779)QBGE[[R[E#W~?[l[[[[BZYY i7l) JM+AJ"J*J2J:J?BJ?nJ5vJA\@A@AsW~? AA e%"AAIjNA"AZAbAjArAzAAAҺp?AʢO+vsAO}@A;A3=A 0A?A ,SAU*A9?2A0Uֽ:Ah<BA9?JA0UֽRAh<٘i)I9}@YhG JC=JJJJF&K YE+V~?ySAFj7Z7u9)[[M[D2W~?[q[[[[BZYY i0Ŋ) ^9djNA"AZAbAjArAzAAA7oN@?A+2tA}@AACY=A*AT+?A`A*A$9?2A2ֽ:A<BA$9?JA2ֽRA<٘i)I9}@YSG JkB=JJJJF&K Y@V~?yrƪySAF)7ŧ7@9?B)SBJE[[;I[AW~?[{v[[[[BZYY i) ' YV~?y֪RA&Fb779BB)]BRE[[;[@qW~?[[[[[BZYY iGl) ;Ii@,= MR=))MR=MR=ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039798.683165 s, next control iter: 1743039799.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039799.083165 s.DqJ~, SM+AA)\µ@AU@AhW~? AwA4%"AA#jNA"AZAbAjArAzAAAa[?AntA=%|@AEȧ8A6G=AA ?A@@߿A%*A9?2AUTֽ:AG=BA9?JAUTֽRAG=I٘i)I9%|@YwG JdC=JJJJF&K Y4V~?y۪\RAFb7j9)aBUE[[W{7[W~?["[[[[BZYY i) ;Iiȅ@f>+=  =)) = =MѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039799.123165 s, next control iter: 1743039799.483176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039799.503165 s.wJ~,H4M+AJ"J*J2J:JBJnJvJAR@A>x@AW~? AūA%"AA{jNA"AZAbAjArAzAAATo?AVtA{@A<A'=A A?A޿Aݪ*A 9?2Aֽ:A=BA 9?JAֽRA=٘i)I9{@Y$G JmJJJJ F&K YjV~?yQAF7759CB)fBXE[[33[XW~?[[[[[BZYY i) d;Ii@)= @E=))@E=@E=UתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039799.543165 s, next control iter: 1743039799.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13298, header.stamp.nsec: 00 temperature: 13.567040* salinity: 33.375092, density: 1025.000000* values[0]: 0.580797F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039799.923165 s.<~J~,M+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057807< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743039799.923286F (some fields omitted in printout)A{G!@A~!<@AW~? AʫAd%"AAZkNA"AZAbAjArAzAAAH<7T?An2tA9 {@AU<A̝=A AF?AkݿAf*A9?2AQ ֽ:A=BA9?JAQ ֽRA=٘i)I9 {@YG JJJJJ!F&K YV~?yQAFŧ7b79)kB[[;.[ZW~?[[[[[BZYY i) ď;IiɃ@(= =))==y m6٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039799.943165 s, next control iter: 1743039800.323181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039800.343165 s. YV~?y@PAF779DB)uB^E[[%[W~?[s[[[[BZYY i) %;Iis@%=  >)) > >ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039800.803165 s, next control iter: 1743039801.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039801.183165 s.˒J~,KN+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057807< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743039801.183309F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A\ @A4X~? A٫A]?%"AA lkNA"AZAbAjArAzAAA7S#x@Ako>tA=y@AyA–=AyA`?AۿA=*Aݽ9?2AVֽ:A:=BAݽ9?JAVֽRA:=٘i)I9=y@YG JCJJJJ%F&K YGW~?yhPAF7777`9FB)|BbE[[ *![W~?[[[[[BZYY i\و) u:Ii@#= @>))@>@>ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039801.223165 s, next control iter: 1743039801.583181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743039801.603165 s.;4J~,fN+AAQ@AH@AIX~? AyޫA%"AAkNA"AZAbAjArAzAAAuX@A"tAѬx@APADŒ=A~A H?AڿAԺ*A9?2A-׽:AƓ<BA9?JA-׽RAƓ<٘i)I9x@YZG JJJJJ'F&K Y*W~?yPAF7{7*9)B[[[W~?[[[[[BZYY i) 5:Ii}@IE"= 1>))1>1>YʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039801.643165 s, next control iter: 1743039802.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13300 , header.stamp.nsec: 0 0 temperature: 13.567440 * salinity: 33.375118 , density: 1025.000000 * values[0]: 0.579513 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039802.023165 s.ZJ~,{N+AJ"J*J2J:JZ?BJZ?nJ5vJAHz.@Au!@AF_X~? AA%"AAIkNA"AZAbAjArAzAAAZi@A))C>C>"ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039802.063165 s, next control iter: 1743039802.423176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039802.443165 s.6æJ~,:]N+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066821< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743039802.443280F (some fields omitted in printout)Aq= c@AXV@AuX~? AkA1%"AAkNA"AZAbAjArAzAAAf @AMʃ'tAқw@A kA=Ai]ؾA`]?A.ٿA**AB9?2Aֽ:A<BAB9?JAֽRA<٘i)I9w@YG JJJJJ)F&K Yo[W~?yD1OAFj79GB)BhE[[[X~?[X[[[[BZYY i) 6Iiy@G= @U>))@U>@U>yՈYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039802.463165 s, next control iter: 1743039802.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13301, header.stamp.nsec: 00 temperature: 13.567620* salinity: 33.375134, density: 1025.000000* values[0]: 0.578948F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039802.863165 s.+J~,>N+AJ"J*J2J:JBJnJvJA@A}@A,X~? AAR%"AAXkNA"AZAbAjArAzAAANBʆ7 @A7&)*tAw@AA;A]=AGFξAy?A:aؿA#*A49?2Ankֽ:A/<BA49?JAnkֽRA/`?`?I?,ٿp?˚@](bwt?@z?)$+@ I٘i)I9w@YcG JJ JJJ+F&K(x> YnuW~?yNAξF)7ŧ79)BkE[[?*[c!X~?[[[[[BZYY i) 6 Ii'v@<= pg>))pg>pg>]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039802.883165 s, next control iter: 1743039803.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039803.283165 s.5RJ~,N+AA(\@A.PR@AX~? AA:%"AAlNA"AZAbAjArAzAAA!߲,U @A׎,,tAƕv@AwB<AE=AľA`N?A@׿A8{*A9?2AKֽ:A9<BA9?JAKֽRA9<٘i)I9v@YG JJJJJ,F&K YkW~?y+yNAFb77U9)B[[˧ []4X~?[[[[[BZYY i) JGIir@J= @y>))@y>@y>.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039803.303165 s, next control iter: 1743039803.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13302., header.stamp.nsec: 0.0 temperature: 13.567729.* salinity: 33.375160., density: 1025.000000.* values[0]: 0.578402.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039803.703165 s.պJ~, N+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066821< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743039803.703268F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A.@A+X~? AA:%"AA2lNA"AZAbAjArAzAAA\z@A}|/tAv@A mL<A=AުA`?A;ֿA*AG9?2Acֽ:Ac<BAG9?JAcֽRAc<٘i)I9v@YG JhB=JJJJ.F&K YkW~?y NAF77{7 9HB)BnE[[/[GX~?[<[[[[BZYY i) rIi5p@= X>))X>X>`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039803.743165 s, next control iter: 1743039804.103177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039804.123165 s.LJ~,O+AAG:@A -@AX~? AAL%"AATlNA"AZAbAjArAzAAA^@AV,u1tAu@A#;AZ=AL A@?ASտA*Ak9?2Aبֽ:A+<BAk9?JAبֽRA+<٘i)I9u@Y|G JݑC=JJJJ/F&K YgW~?yMAF77ꨵ9)BqE[[+[3[X~?[[[[[BZYY i) 伡Iim@01= `>))`>`>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039804.163165 s, next control iter: 1743039804.523181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743039804.543165 s.IJ~,"O+AJ"J*J2J:JBJnJvJA= ףp@AqRc@A1X~? AVA%"AAmwlNA"AZAbAjArAzAAACb@AfL3tA'u@A*>A6=ALAi?A տAY*AE9?2Aֽ:A=<BAE9?JAֽRA=<٘i)I9'u@Y5G JŊJJJJ0F&K YeW~?ydMAFb7b79JB)BuE[[[oX~?[ [[[[BZYY im) Iik@= >))>>|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039804.563165 s, next control iter: 1743039804.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13303, header.stamp.nsec: 00 temperature: 13.567877* salinity: 33.375153, density: 1025.000000* values[0]: 0.577901F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039804.963165 s.|J~,=O+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076382< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743039804.963285F (some fields omitted in printout)Affff@A%c\@AX~? AA]%"AAlNA"AZAbAjArAzAAA"k&#@Al*5tAqt@A\0A۬=AǞA 4?A +ԿAz*A9?2A&׽:A}<BA9?JA&׽RA} YcW~?y! MAF7779)BxE[[-[ނX~?[B[[[[BZYY i) ?Iig@s= ->))->->YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039804.983165 s, next control iter: 1743039805.363182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743039805.383165 s.J "J *J 2J :J ?BJ ?nJ 5vJ J~,'XO+AA(@Aq@A.Y~? AIA%"AABlNA"AZAbAjArAzAAA?r%@A>7tAMt@ATAC'=A!A@h?AvLӿA"]z*A 9?2A׽:A|<BA 9?JA׽RA|<٘i)I9Mt@YG J}JJJJ3F&K Y_X~?yLAFb77K9KB)B{E[[[X~?[aª[[[[BZYY i) ))J>J>8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039805.423165 s, next control iter: 1743039805.783178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13304", header.stamp.nsec: 0"0 temperature: 13.567975"* salinity: 33.375172", density: 1025.000000"* values[0]: 0.577462"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039805.803165 s.~AJ~,gsO+AA@AT@A-Y~? AA%"AA/lNA"AZAbAjArAzAAA5dGdF@A3&9tAs@AAۃ=AuބA?AlҿA~}*AZ9?2Aֽ:A<BAZ9?JAֽRA<٘i)I9s@YpG JfzJJJJ4F&K Y`.X~?yY_LAF779)B[[޾[rX~?[iŪ[[[[BZYY i) ЗIita@XJ= t>))t>t>yZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039805.843165 s, next control iter: 1743039806.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039806.223165 s.gJ~,HO+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076382< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743039806.223285F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG@Ar:@A EY~? AA%"AAomNA"AZAbAjArAzAAAuf9i@A4;tAxs@A )6:A8=AuA?AѿA郼*A9?2A3ֽ:AH=BA9?JA3ֽRAH=٘i)I9xs@Y/G JJJJJ6F&K YZIX~?yLAFb77౵9)B~E[[vվ["X~?[VȪ[[[[BZYY i) PIi^@~= >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039806.243165 s, next control iter: 1743039806.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039806.643165 s.{J~,*O+AA ףp}@A{))a>a>RYFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13305, header.stamp.nsec: 00 temperature: 13.568071* salinity: 33.375175, density: 1025.000000* values[0]: 0.577022F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743039806.663165 s, next control iter: 1743039807.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039807.063165 s.J~,[ O+AJ"J*J2J:J?BJ?nJ5vJA3333@A_`V(@AuY~? A_AE'%"AAOmNA"AZAbAjArAzAAAڷ@A9\U?tAr@AW<APy=ALA`?A0ϿA/*Aɿ9?2AJֽ:A=BAɿ9?JAJֽRA=Y@Ky5v=vX<ٓHK?i? g?>ɿ /\?`Sk~?L?)@ I٘i)I9r@YG JJ:<JJJ8F&Kw> Y X~?yO SKAKFj7j7u9)BE[[þ[X~?[ͪ[[[[BZYY i) >IihX@" = >))=.>>鿪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039807.083165 s, next control iter: 1743039807.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039807.483165 s.t_J~,O+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.252306@ elevatorAngleAction: -0.076382< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743039807.483299F (some fields omitted in printout)A\@AEk@ABY~? AA%"AAtmNA"AZAbAjArAzAAAl6,@Al@tA(r@A$<Ab=A7A QD?AͿA*Aۼ9?2A}ֽ:A =BAۼ9?JA}ֽRA =٘i)I9r@YYG JޏJJJJ:F&K YX~?y "JA  EF77{7@9LB)BE[[}ڹ[-X~?[jЪ[[[[BZYY i) cMIiT@#= 9E>)) 9E>9E>cêYFFF]Waiting for Gazebo time sync: latest Gz time: 1743039807.503165 s, next control iter: 1743039807.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13306, header.stamp.nsec: 00 temperature: 13.568171* salinity: 33.375179, density: 1025.000000* values[0]: 0.576586F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039807.903165 s.J~,O+AJ"J*J2J:J?BJ?nJ5vJAQ@AX%@AY~? AA%"AATmNA"AZAbAjArAzAAA`@AtuBtAq@A:Aہ=AUe"Ak?A˿A*A9?2Aս:A =BA9?JAսRA =٘i)I9q@YG JhJJJJ;F&K YjX~?y#JAF77 9)BE[[M[Y~?[Ҫ[[[[BZYY i) r]IigQ@= i>))i>i>ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039807.923165 s, next control iter: 1743039808.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039808.323165 s.rJ~,P+AAGzT@AGpG@AY~? AA%"AAmNA"AZAbAjArAzAAAR<@AãCtA|$q@A9A=A/ A`?AʿArC*A9?2AUֽ:A9 =BA9?JAUֽRA9 =٘i)I9$q@YG JߑJJJJ<F&K YX~?y%:JAFb7պ9)ïBE[[D[Z*Y~?[@ժ[[[[BZYY i) lIizN@'%= >))>>KʪYu(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039808.343165 s, next control iter: 1743039808.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13307*, header.stamp.nsec: 0*0 temperature: 13.568294** salinity: 33.375195*, density: 1025.000000** values[0]: 0.576097*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039808.743165 s.W J~,d/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: -0.076382< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743039808.743291F (some fields omitted in printout)Aףp=@A$]3}@AY~? AAd%"AAmNA"AZAbAjArAzAAA&U9Nl@A~j3EtAƨp@AQAM=A;A?A9ȿA甼*A9?2Aֽ:Ap =BA9?JAֽRAp =٘i)I9p@YxG JDJJJJ>F&K YX~?yE'IAF7{79)ƯB[[y蝾[O@Y~?[ת[[[[BZYY ig) b|IiK@Z= =7>))=7>=7>ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039808.763165 s, next control iter: 1743039809.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039809.163165 s.v}J~,qJP+AA@Aͨ@A4Y~? AA;%"AA nNA"AZAbAjArAzAAA)@A &8mFtA)p@Ai8AG5=AƽA`?A`bƿAb*A79?2Aֽ:A =BA79?JAֽRA =Y$@ Ƚy2=N8ٓH@5?Ӹ?2?`-?Bp?` `?)$@ I٘i)I9)p@Y+G JB=Jr<JJJ?F&K3v> Y Y~?y"(vIAȽFk9)˯BE[[%[)VY~?[٪[[[[BZYY i) #…IiG@~< z>))<~z>z>TѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039809.203165 s, next control iter: 1743039809.563175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039809.583165 s. J~,&SeP+AJ"J*J2J:Jj?BJj?nJ5vJA)\@ALP÷@A Z~? AA+%"AA12nNA"AZAbAjArAzAAALճj @A.DLGtAo@AZvA=A}A?AĿAƟ*AK9?2AGֽ:A=BAK9?JAGֽRA=٘i)I9o@YG J]C=JJJJ@F&K Y&Y~?y(IAF759)ϯBE[[R[ElY~?[۪[[[[BZYY i) )QIiC@p< f?)) f?f? ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039809.603165 s, next control iter: 1743039809.983185 s, wait time: 0.380020 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13308, header.stamp.nsec: 00 temperature: 13.568400* salinity: 33.375198, density: 1025.000000* values[0]: 0.575594F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039810.003165 s.z J~,U4P+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085647< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743039810.003280F (some fields omitted in printout)AR+@Ay@A$Z~? AAy%"AAXnNA"AZAbAjArAzAAA]9Kʂ @A~HHtAko@A;AC=Aw nAk?A`¿A*A9?2AԽ:A =BA9?JAԽRA =٘i)I9o@YG J7JJJJBF&K YCY~?y)HAF77µ9)ӯBE[[ [Y~?[yݪ[[[[BZYY i) ᔼIi8@@l < ?))??yc~٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039810.023165 s, next control iter: 1743039810.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039810.423165 s.u&J~,P+AJ"J*J2J:JBJnJvJA{Ga@A;T@A>Z~? AA%"AAHnNA"AZAbAjArAzAAAk!@A"JAItAn@AG<Af1=AA`<?A NA/*A9?2AԽ:Am=BA9?JAԽRAm=٘i)I9n@Y0G J2JJJJCF&K Y2_Y~?y*DHAFõ9)ׯBE[[p[AY~?[;ߪ[[[[BZYY i) MqIi=@<  ?)) ? ?ݪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039810.463165 s, next control iter: 1743039810.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13309, header.stamp.nsec: 00 temperature: 13.568535* salinity: 33.375225, density: 1025.000000* values[0]: 0.575045F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039810.843165 s.,J~,P+AAp= @AT:X@A'XZ~? Aq AJ%"AAnNA"AZAbAjArAzAAA5#!@A8f\JtAqm@A:I<A=A`A`,?A'A *A9?2Aս:A=BA9?JAսRA=٘i)I9m@YG JJJJJDF&K YL{Y~?y+GAF77j7ŵ9)ܯBE[[^[Y~?[[[[[BZYY i) IiX:@.< ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039810.863165 s, next control iter: 1743039811.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039811.263165 s.4J~,P+AJ"J*J2J:J!?BJ!?nJG5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085647< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743039811.263270F (some fields omitted in printout)A@AĿ@AqZ~? A!A؝%"AAnNA"AZAbAjArAzAAAgU"@AJ1KtA`m@A;A{զ=A;A`=?AbDA*Ad9?2AOս:A9=BAd9?JAOսRA9=Y"@ .;yԦ=ђ;ٓH@?aմ?`e? ?wԴ`Yx??)"@ I٘i)I9`m@YxG JmB=JR<JJJFF&KRu> YY~?y+nGA.;Fb77`ǵ9)BE[[@K[Y~?[\[[[[BZYY i) G_Ii5@}< ??))?z????HYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039811.283165 s, next control iter: 1743039811.663176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13310., header.stamp.nsec: 0.0 temperature: 13.568692.* salinity: 33.375237., density: 1025.000000.* values[0]: 0.574444.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039811.683165 s.l:J~,P+AA(\@A~ƃ@AZ~? A"A%"AAnNA"AZAbAjArAzAAA! w"@A KtAl@Ak`A=Abž<AgM?A`vA *A19?2A`5ֽ:Av=BA19?JA`5ֽRAv=٘i)I9l@YG JtC=JJJJGF&K YY~?y+FAFZ7Z7+ɵ9)BE[[\8[Y~?[[[[[BZYY i) NIi1@J< ?)) ??YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743039811.683165 s, next control iter: 1743039812.083187 s, wait time: 0.400022 s rAdjusting time to match Gazebo time: 1743039812.103165 s.AJ~,Q+AJ"J*J2J:J?BJ?nJ5vJAQ8@AByG+@AZ~? A#At%"AA oNA"AZAbAjArAzAAAHF\B#@AHLtAa*l@AR05As9=A!3=A`\?AwA㳺*A 9?2Aս:A=BA 9?JAսRA=٘i)I9*l@YG J.JJJJHF&K YY~?y+FAFj7ʵ9)B[[R%[Y~?[[[[[BZYY i) Ii.@/< "?))"?"?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039812.143165 s, next control iter: 1743039812.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039812.523165 s.GJ~,{!Q+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085647< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743039812.523315F (some fields omitted in printout)AHzn@Ah a@AnZ~? AQ$Ad%"AAZBoNA"AZAbAjArAzAAA"|hb+$@A{LtAދk@ARAk=A=Af?AA*AL9?2AMս:Aa=BAL9?JAMսRAa=٘i)I9k@Y[G JB=JJJJJF&K Y0Y~?y|+FAF{7{7̵9KB)BE[[+[- Z~?[[[[[BZYY i) lxIi*@S< $?))$?$?DY,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039812.543165 s, next control iter: 1743039812.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13311, header.stamp.nsec: 00 temperature: 13.568842* salinity: 33.375256, density: 1025.000000* values[0]: 0.573811F (some fields omitted in printout)*0Y~?)*|+ rAdjusting time to match Gazebo time: 1743039812.943165 s.YdNJ~,F]WQ+AA@Aя@A\Z~? AG%AkN%"AAoNA"AZAbAjArAzAAA!bEf%@Ao2'PMtA=j@Adک:Ax=AQ=As?A`xAyϼ*A9?2A7ս:Aj=BA9?JA7սRAj=YX@=yx=な:ٓHL?@LR?@9?`??@g L;U??)X@ I٘i)I9=j@YG JʼJp<JJJLF&Kt> Yw$Z~?y*5EA=Fŧ7b7Vе9RB)BE[[6׽[;Z~?[[[[[BZYY i) мIi?#@< .?))1w.?.?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039813.403165 s, next control iter: 1743039813.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13312&, header.stamp.nsec: 0&0 temperature: 13.569042&* salinity: 33.375263&, density: 1025.000000&* values[0]: 0.573122&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039813.783165 s.Y[J~,rQ+AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242001@ elevatorAngleAction: -0.085647< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743039813.783288F (some fields omitted in printout)A(\@AXP@A[ [~? A%AG%"AAaoNA"AZAbAjArAzAAAG&@A.m:vMtAi@A% <A =A?=Av?A pAF)׼*A9?2A1ս:A=BA9?JA1սRA=٘i)I9i@Y$G J6ӼJJJJNF&K Y@Z~?y)DAF77{7 ҵ9)BE[[fm[RZ~?[[[[[BZYY i) :׼Ii@f< .2?))݅.2?.2?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039813.823165 s, next control iter: 1743039814.183179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039814.203165 s.cJ~,Q+AAQE@A8@A^'[~? A%AD%"AAoNA"AZAbAjArAzAAA|&@As"MtAh@A6W<A=A v>Ay?A@L?A7ۼ*A9?2A3ӽ:A* =BA9?JA3ӽRA* =٘i)I9h@Y G JټJJJJOF&K Y\Z~?y(DDAF{7ӵ9QB) BE[[&ˊ[gjZ~?[1[[[[BZYY i) k޼Ii,@<< v7?)) v7?v7?|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039814.243165 s, next control iter: 1743039814.603179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039814.623165 s.diJ~J,Q+A"J*J2J:J?BJ?nJ5vJAGz@A m@AbA[~? A%AD%"AA7pNA"AZAbAjArAzAAA>Cc_?'@A:ȌtMtA/h@A<AK=Ay%>A@Vx?AK2?Aݼ*A!9?2AQ'Խ:A =BA!9?JAQ'ԽRA =٘i)I9h@YD G JܼJJJJPF&K YxZ~?y'CAFb77յ9)BE[[G[]Z~?[[[[[ZZ¸BZYY i¸J=) ~fҼIi@7<  elevatorAngleAction: 0.083491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743039815.043308F (some fields omitted in printout)A= ף@A3@Ab[[~? AF%AG%"AA.pNA"AZAbAjArAzAAAĐ '@ApNMtAbg@AZ*:A+=AiN;>A{t?A%?A۠ۼ*A9?2ASԽ:A=BA9?JASԽRA=I٘i)I9bg@Y G JܼJJJJRF&K YZ~?y&SCAF77׵9PB)BE[[[~Z~?[[[[[ZZBZYY i) `ƼIi@xT< vA?))vA?vA?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039815.083165 s, next control iter: 1743039815.443182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743039815.463165 s.TwJ~,ߤQ+AJ"J*J2J:JBJnJvJAffff@AO@a@A\u[~? A$AM%"AAVpNA"AZAbAjArAzAAA z(@AsTMtAʘf@A)5Ai]=AP>ABk?A"צ?AR*AG9?2Aս:A<BAG9?JAսRAy[=ٓH`9?`ɿ? "?U?̙?䵿`?)Ѝ@ I٘i)I9f@YX G JhB=JJJJSF&KOt> YRZ~?y*%BA!P>F77{7Kٵ9)BE[[0[]Z~?[[[[[ZZBZYY i) hIi@?< LF?))uLF?LF?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039815.483165 s, next control iter: 1743039815.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13314, header.stamp.nsec: 00 temperature: 13.569462* salinity: 33.375301, density: 1025.000000* values[0]: 0.571603F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039815.883165 s.y}J~,4Q+AA(@A&B@AK[~? AL$A"W%"AAZ}pNA"AZAbAjArAzAAAIg)@A惶LtA~e@AUA=A&f>Aa?A g?A]J*A9?2Aս:A,<BA9?JAսRA,<٘i)I9e@Y G JC=JJJJTF&K YZ~?yc#hBAF77۵9)"B[[<[lZ~?[[[[[ZZBZYY i) rIi @< R,K?))_ɄR,K?R,K?y9T=)ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039815.923165 s, next control iter: 1743039816.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039816.303165 s.XJ~,gR+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.259349> elevatorAngleAction: 0.083491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199432 time: 1743039816.303271F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A|BvD@A1[~? A#Ac%"AApNA"AZAbAjArAzAAAմ)@ANCLtAd@A;AYPv=AJ'z>AY?A@$?A R*A 9?2AԽ:A[<BA 9?JAԽRA[<٘i)I9d@YR G JJJJJVF&K YZ~?y!AAF7ܵ9OB)(BE[[i<[Z~?[[[[[ZZBZYY i) |Ii@~< vP?)) vP?vP?ӫYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039816.343165 s, next control iter: 1743039816.703178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13315., header.stamp.nsec: 0.0 temperature: 13.569736.* salinity: 33.375305., density: 1025.000000.* values[0]: 0.570687.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039816.723165 s.J~,H.R+AAz@A(Gz@A [~? A"As%"AApNA"AZAbAjArAzAAAS^Q*@AKKtA*d@AՇAs2=A>A2M?A˶?AѼ*A:?2A}#Խ:AwH;BA:?JA}#ԽRAwH;٘i)I9*d@Y G JyJJJJWF&K Y2[~?y}AAFŧ7b7޵9).BE[[|?=[Z~?[[[[[ZZBZYY i) >Ii@< U?))U?U?zYxℾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039816.763165 s, next control iter: 1743039817.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039817.143165 s.Y/J~,*IR+AJ"J*J2J:J?BJ?nJ5vJA ףp@A٭e@A[~? A!Aj%"AApNA"AZAbAjArAzAAA[P*@AClKtAÄc@AW;A4$<A/>A>?A`v?A@*A$:?2AcԽ:ABA$:?JAcԽRA㺙٘i)I9c@Yx G JļJJJJYF&K Y[~?yAAFj7j7v9NB)2BùE[[Z=[[~?[<[[[[ZZBZYY i) Ii@< fZ?))fZ?fZ?>Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039817.163165 s, next control iter: 1743039817.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039817.563165 s.J~,F dR+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743039817.563290F (some fields omitted in printout)A3333@Am(@A[~? Af Ab%"AA qNA"AZAbAjArAzAAA9)+@ATJtA'b@AS8<A<AA>A-?A@N+?A *A:?2AԽ:AiBA:?JAԽRAiYy=O>yn<V8<ٓH@?ӿZ???)5z[^ ??)y= I٘i)I9b@Y& G J<J9JJJZF&Kt> Y9[~?ym@AO>F{7@9)6BƹE[[ =[+[~?[[[[[ZZBZYY iф=) -Ii;?ޞ<  ^?))t ^? ^?lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039817.583165 s, next control iter: 1743039817.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13316, header.stamp.nsec: 00 temperature: 13.569963* salinity: 33.375313, density: 1025.000000* values[0]: 0.569920F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039817.983165 s.J~,~R+AJ"J*J2J:JBJnJvJA\(@A^9@A6\~? AAz%"AA@qNA"AZAbAjArAzAAA՚%,@AW(~ItAnb@A]7<AZٻA>A`?Az?A`>*A9?2A ^ս:A{9zBA9?JA ^սRA{9z٘i)I9b@Y G JoJJJJ[F&K YT[~?y@AFŧ7b7 9MB)8BɹE[[j=[^D[~?[[[[[ZZBZYY iۙ=) 2mIiX?.< hc?))'hc?hc?=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039818.003165 s, next control iter: 1743039818.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039818.403165 s.&J~,͙R+AAQ^@AtQ@A)\~? A}A%"AAgqNA"AZAbAjArAzAAAkI,@AVHtA[b@A9;A`"A>A?A ?A/*A:?2Auӽ:A7᧼BA:?JAuӽRA7᧼٘i)I9[b@Y G JJJJJ]F&K Yo[~?y&@AFZ7Z79):B[[ =[\[~?[ [[[[ZZBZYY i) YIiG?< h?)) h?h?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039818.423165 s, next control iter: 1743039818.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13317", header.stamp.nsec: 0"0 temperature: 13.570010"* salinity: 33.375320", density: 1025.000000"* values[0]: 0.569496"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039818.823165 s.J~,2R+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075125< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743039818.823297F (some fields omitted in printout)AGz@A;9Cq@A=C\~? AA1%"AAqNA"AZAbAjArAzAAA}?OZ-@A֒̈́GtABb@AᇻAA>Ap?A@?AxC*A:?2AWӽ:A?~мBA:?JAWӽRA?~м٘i)I9Bb@Y G JEhJJJJ^F&K Y[~?y@AFb779);B̹E[[>[u[~?[[[[[BZYY i) *FIi ?1d< m?))m?m?yv8=)6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039818.863165 s, next control iter: 1743039819.223179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039819.243165 s.J~,dR+AAףp=@Av2@A\\~? AA%"AAqNA"AZAbAjArAzAAA-&$-@A2dLcFtAKb@A8A:4A>A?A l?A};*A:?2Aӽ:A4BA:?JAӽRA4𼙘٘i)I9Kb@Y G JȬ:JJJJ_F&K Y[~?y@AF77k9LB):BϹE[[e(>[[~?[[[[[BZYY i) #n2Ii?)M< ts?))ts?ts?r*YsYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039819.263165 s, next control iter: 1743039819.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039819.663165 s.J~,qR+AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13318, header.stamp.nsec: 00 temperature: 13.569952* salinity: 33.375347, density: 1025.000000* values[0]: 0.569492F (some fields omitted in printout)A@A>@Au\~? AA8%"AAbqNA"AZAbAjArAzAAAF=Í.@Aʉ+EtArb@A OARZA>A?A8?A;*Ao:?2A7Խ:ABAo:?JA7ԽRAY;>%>yZ PٓH:f?5 ٿ@ ? yr? 7ł@??s?);> I٘i)I9rb@Y G JV;JJJJaF&Kr> Y[~?yl AA%>F769IB)5BѹE[[-#<>[[~?[w[[[[BZYY ig=) %"Ii?< x?))̿sx?x?0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039819.683165 s, next control iter: 1743039820.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039820.083165 s.DJ~,SS+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.238036> elevatorAngleAction: 0.056594< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743039820.083299F (some fields omitted in printout)A)\5@AR(@A\~? AAka%"AArNA"AZAbAjArAzAAA6%/@AlCtAMb@AgAByAV>A%?A@S ?ACb3<*A9?2A@Խ:Ab BA9?JA@ԽRAb ٘i)I9b@Y G J<JJJJbF&K Y[~?y XAAF)7b79HB)2BԹE[[=fP>[y[~?[[[[[BZYY i) Ii?i~< j)}?))Oj)}?j)}?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039820.123165 s, next control iter: 1743039820.483181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743039820.503165 s.J~,]4 S+AJ"J*J2J:JBJnJvJARk@AAs?A?A"g<*A:?2A5ӽ:Aq BA:?JA5ӽRAq ٘i)I9c@Y, G JL<JJJJcF&K Y[~?yAAFZ7SI79GB)/B׹E[[ d>[[~?[L[[[[BZYY iGC=) Ii?et< /"?)) /"?/"? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039820.523165 s, next control iter: 1743039820.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13319, header.stamp.nsec: 00 temperature: 13.569720* salinity: 33.375378, density: 1025.000000* values[0]: 0.569820F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039820.923165 s.8J~,;S+AA{G@AAcP?A`?AZ<*A.:?2Aӽ:Af BA.:?JAӽRAf ٘i)I9qc@Yl G Jy<JJJJeF&K Y \~?yAAFj7Z79),B[[dy>[[~?[wު[[[[BZYY i) Ii?p$k< ?))??y0h=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039820.943165 s, next control iter: 1743039821.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039821.343165 s. elevatorAngleAction: 0.066046< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743039821.343290F (some fields omitted in printout)Ap= @AΩd@A_\~? A\Af%"AArrNA"AZAbAjArAzAAAqΣt0@A Q?tAc@AN<AkA]>A@)?Ay?ALؒ<*A:?2AAԽ:A BA:?JAAԽRA ٘i)I9c@Y G JJ<JJJJfF&K Y'\~?y4BA FZ7a9FB)'BڹE[[ >[ \~?[wܪ[[[[BZYY i) 8»IiT?Lb< *K?))*K?*K?yˆ=*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039821.363165 s, next control iter: 1743039821.743178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13320&, header.stamp.nsec: 0&0 temperature: 13.569399&* salinity: 33.375362&, density: 1025.000000&* values[0]: 0.570382&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039821.763165 s.6J~,pS+AA @A@A\~? A A"%"AArNA"AZAbAjArAzAAA.6U۾0@AԓSw=tATgd@A#<A]A2?A?A@?A<*A:?2AԽ:A, BA:?JAԽRA, Y>?y[<ٓH? ޿E`@?`?`i@F?`TV?i?)> I٘i)I9gd@Y G J<B=JvWJJJgF&Kr> Y@\~?y\BA? F77,9)"BݹE[[SI>[!\~?[Vڪ[[[[BZYY i) ԣIi ? V< Bڈ?)) \s Bڈ? Bڈ? *YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743039821.803165 s, next control iter: 1743039822.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039822.183165 s.J~,^S+AJ"J*J2J:JBJnJvJA(\B@A;5@A& ]~? AAY%"AArNA"AZAbAjArAzAAAc1@A;tAd@Al:AAf?A ?A@y?A<*Aa:?2Aս:A4BAa:?JAսRA4٘i)I9d@YV G J]<C=JQ>JJJiF&K> Y{Y\~?y!CA Fŧ7b79EB)BE[[딛>[6:\~?[ ت[[[[BZYY i) Ii?p-K< (m?))k$(m?(m?M*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039822.223165 s, next control iter: 1743039822.583175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039822.603165 s.54J~,S+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.258090> elevatorAngleAction: 0.066046< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743039822.603278F (some fields omitted in printout)AQx@A3:?2Aӽ:A*BAf>:?JAӽRA*٘i)I9e@Y G Jf<JQ>JJJjF&K> Y:r\~?ykCA F7779DB)BE[[>[R\~?[ժ[[[[BZYY i) 6OIi?X@< ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039822.643165 s, next control iter: 1743039823.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13321 , header.stamp.nsec: 0 0 temperature: 13.569034 * salinity: 33.375385 , density: 1025.000000 * values[0]: 0.571093 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039823.023165 s.ZJ~,{S+AJ"J*J2J:JBJnJvJAHz@A| @A*:]~? AWA%"AAsNA"AZAbAjArAzAAA=Yt1@Aa7tABf@AʗLAʜA?A`z?A8?Aܐ<*AD:?2A=ӽ:A BAD:?JA=ӽRA ٘i)I9f@Y G J<JJJJkF&K Y\~?yCAFZ7SI79AB)BE[[s>[ k\~?[Ҫ[[[[BZYY i) Ii?7< ֤?))֤?֤?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039823.043165 s, next control iter: 1743039823.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039823.443165 s.5J~,5]S+AAq= @A;@AQ]~? AA%"AA)*sNA"AZAbAjArAzAAAd.A1@A65tAf@A%%)A3A?AI?A?A.<*AE:?2AWԽ:A& BAE:?JAWԽRA& ٘i)I9f@Yk G J<JJJJmF&K Y\~?yj:DAFŧ77V9@B) BE[[c>[s\~?[Ъ[[[[BZYY i) 6_Ii;?/< G?))G?G?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039823.463165 s, next control iter: 1743039823.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13322, header.stamp.nsec: 00 temperature: 13.568623* salinity: 33.375416, density: 1025.000000* values[0]: 0.571892F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039823.863165 s.+J~,>S+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: 0.4199952 time: 1743039823.863288F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AZՒ @A\i]~? ArA U%"AAMsNA"AZAbAjArAzAAAP,)2@A 3tAxPg@A~e3AA?A?A?A.<*AE:?2AԽ:A*BAE:?JAԽRA*Y !>!)?y3ٓH+L?` %@g?_?`4}@?lf ?) !> I٘i)I9Pg@Y G Jʹ<J':JJJnF&Khs> Y\~?ynDA)?Fj7Z7!9?B)BE[[Ck>[e\~?[)ͪ[[[[BZYY i) ҹIi-?P#< ?))%t??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039823.883165 s, next control iter: 1743039824.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039824.283165 s.6RJ~,T+AA(\O@AQB@A]~? AA %"AAbqsNA"AZAbAjArAzAAA~oo2@AI1tA~g@AJ;AA}?A`?As?AD<*AD:?2Aս:ABAD:?JAսRA٘i)I9g@Y! G J<JJJJoF&K YA\~?yqEAF77779>B)BE[[S>[\\~?[ ʪ[[[[BZYY i) :Iim?< ?))??^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039824.303165 s, next control iter: 1743039824.683174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13323., header.stamp.nsec: 0.0 temperature: 13.568234.* salinity: 33.375420., density: 1025.000000.* values[0]: 0.572702.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039824.703165 s.պ J~, -T+AJ"J*J2J:JBJnJvJAQ@Ax@A]~? AA%"AAusNA"AZAbAjArAzAAAup2@AN4/tAjqh@AE<AqBA8$?A`?A`?A<*A"c:?2A)Խ:ABA"c:?JA)ԽRA٘i)I9qh@Yx G J<JJJJqF&K  9Y\~? 9yt۪nEAFŧ7ŧ79)B[[ˋ>[N\~?[ƪ[[[[BZYY i) :Ii]? < *?)) *?*?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039824.723165 s, next control iter: 1743039825.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039825.123165 s.:J~,iGT+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: 0.4200012 time: 1743039825.123291F (some fields omitted in printout)AG@A1]խ@Ac]~? AA/%"AA*sNA"AZAbAjArAzAAAlbs2@A",tAh@Ao =<A2A)?Ak?A er?A4<*Ae:?2AaԽ:A$BAe:?JAaԽRA$٘i)I9h@Y G J<JJJJrF&K Y]~?yx֪EAFb79=B)BE[[s:>[2\~?[Aê[[[[BZYY i) V;IiO?< ֝?))֝?֝?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039825.163165 s, next control iter: 1743039825.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039825.543165 s.IJ~,bT+AJ"J*J2J:JBJnJvJA= ף@As@A]~? AAU~%"AAsNA"AZAbAjArAzAAAI3@AJI*tAi@AȤ;AA.?A=0?A\=?A`<*Agd:?2AԽ:AcBAgd:?JAԽRAc٘i)I9i@YG JK<JJJJsF&K Y]~?y{Ѫ[\~?[[[[[BZYY i) cW;Ii`C?; ܆?))܆?܆?L*Y~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039825.583165 s, next control iter: 1743039825.943176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13324, header.stamp.nsec: 00 temperature: 13.567863* salinity: 33.375435, density: 1025.000000* values[0]: 0.573428F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039825.963165 s.wJ~,}T+AAffff&@A4,F]@A%]~? AA%"AAqsNA"AZAbAjArAzAAA$ %3@A'tA j@AA荽Ao3?A`)?Ap?A<*A/b:?2AԽ:ADBA/b:?JAԽRADYn^>3?yV荽ٓH^?@,y?o? ^:h?`tqD?)n^> I٘i)I9 j@YrG Jۡ<J]S<JJJuF&Ks> Y-]~?y˪FA3?Fj7Z799B)BE[[>[T]~?[ѻ[[[[BZYY i8=) ;Iia0?; 0?))Pv0?0?y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039826.003165 s, next control iter: 1743039826.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039826.383165 s.%J~,+T+AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240543> elevatorAngleAction: 0.074816< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743039826.383302F (some fields omitted in printout)A(\@A=O@A]~? AMA]#%"AAtNA"AZAbAjArAzAAA wj3@AMtA %tA~j@A17AˋA8?Ay?A`?A<*A_:?2A9ս:AP$BA_:?JA9սRAP$٘i)I9j@YG Jt<JJJJvF&K Y0C]~?yƪFAF77j798B)BE[[?[)]~?[ڷ[[[[BZYY i) 'M;Ii$?); Kߥ?))"Kߥ?Kߥ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039826.403165 s, next control iter: 1743039826.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13325&, header.stamp.nsec: 0&0 temperature: 13.567472&* salinity: 33.375450&, density: 1025.000000&* values[0]: 0.574167&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039826.803165 s.}A,J~,gT+AA@A @A^~? AޫAy%"AA>tNA"AZAbAjArAzAAAm ʀ4@AoH"tA?k@AGAz A=?A+m?A`[?A<*Au:?2Aӽ:A?BAu:?JAӽRA?٘i)I9k@YG J<JJJJwF&K YX]~?yjZGAF77 93B)گBE[[?[@]~?[[[[[BZYY i) ;Ii?O; `?)) `?`?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039826.823165 s, next control iter: 1743039827.203181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039827.223165 s.g3J~,HT+AJ"J*J2J:JBJnJvJAz@Ae@A1^~? A&ګA5%"AA^tNA"AZAbAjArAzAAAe[G4@ASrtAk@AݻAlAC?A)?Ae?A̔<*ACq:?2AfoԽ:A BACq:?JAfoԽRA ٘i)I9k@YcG J<JJJJyF&K YOn]~?yGAF7777v 9)֯B[[ ?[W]~?[_[[[[BZYY i) ;Ii?h; =N?))=N?=N?y=>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039827.263165 s, next control iter: 1743039827.623178 s, wait time: 0.360013 sOn]~?) rAdjusting time to match Gazebo time: 1743039827.643165 s.v9J~,*T+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074816< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743039827.643291F (some fields omitted in printout)A ףp@Ae@AI1^~? A`իA/%"AA~tNA"AZAbAjArAzAAA1q̇M4@A>tAl@A ;AATH?A^?AR'?A<*Aj:?2A :ս:A0BAj:?JA :սRA0٘i)I9l@YG J<JJJJzF&K Y߃]~?y HAF{7A 92B)үBE[[ ?[n]~?[ܪ[[[[BZYY i) %;;  ?)) ? ?c*tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13326, header.stamp.nsec: 00 temperature: 13.567141* salinity: 33.375462, density: 1025.000000Y* * values[0]: 0.574853F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039827.663165 s, next control iter: 1743039828.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039828.063165 s.@J~,R U+AJ"J*J2J:J)?BJ)?nJO5vJA33333@AM(&@AF^~? AxЫAc%"AAtNA"AZAbAjArAzAAAuyK4@A/tA(l@A#<A@AM?A`X?A D?AU<*A2c:?2Aս:ABA2c:?JAսRAYc?;|M?yz/$<ٓH.?eZ]?d7?s nM?@y??)c? I٘i)I9l@YG J <Jـ;JJJ{F&Kt> Y]~?yuHA|M?Fŧ7b7 9.B)ʯBE[[Px?[]~?[>[[[[BZYY i) VY; İ?))ɥxİ?İ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039828.083165 s, next control iter: 1743039828.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039828.483165 s.v_GJ~,U+AA\h@A[@AZ^~? Ap˫AL%"AAtNA"AZAbAjArAzAAAYL5@A wtAl@AL<AD'ATR?A@L?A`g?A<*A[:?2AEֽ:AOBA[:?JAEֽRAO٘i)I9l@Y=G J4<JJJJ}F&K Y ]~?y_HA F{7{79)ƯB[[u?[X]~?[o[[[[BZYY i)  !#T; ?)) ??ξ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039828.503165 s, next control iter: 1743039828.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13327, header.stamp.nsec: 00 temperature: 13.566804* salinity: 33.375477, density: 1025.000000* values[0]: 0.575512F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039828.903165 s.MJ~,9U+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074816< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743039828.903284F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A?W@An^~? AFƫAQ%"AAtNA"AZAbAjArAzAAAZ"HA5@A{PtAtm@AS <A8&AW?A@ ?A j?A!<*AGn:?2A Խ:ABAGn:?JA ԽRA٘i)I9tm@YG J=<JJJJ~F&K Y]~?y /IA!F7779-B)BE[[y#?[l]~?[p[[[[BZYY i) T1-; D?))D?D?I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039828.943165 s, next control iter: 1743039829.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039829.323165 s.rTJ~,TU+AAGz@A4Op@Ah^~? AA%"AAtNA"AZAbAjArAzAAAK?}5@A/PbXtAm@AHEAd<Ax\?A?A&?A<*ASh:?2AԽ:A51BASh:?JAԽRA51٘i)I9m@YG Ja<JJJJF&K Yb]~?yIA"F7l9,B)BE[[ )?[P]~?[A[[[[BZYY i) @(^ ; o ?))o ?o ?f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039829.363165 s, next control iter: 1743039829.723175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13328*, header.stamp.nsec: 0*0 temperature: 13.566481** salinity: 33.375473*, density: 1025.000000** values[0]: 0.576156*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039829.743165 s.W[J~,oU+AJ"J*J2J:J~?BJ~?nJ5vJAףp= @A4@Aڕ^~? AA%"AAuNA"AZAbAjArAzAAAW15@A"' tApn@A ~ A)Aa?A@.a?A`Z?AKa<*Aa:?2A~Խ:A?u BAa:?JA~ԽRA?u ٘i)I9pn@YG Jۘ<JJJJF&K Y]~?y]IA$F77{769)B[[ڤ.?[]~?[䑪[[[[BZYY i) RP&: Zڻ?))Zڻ?Zڻ? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039829.783165 s, next control iter: 1743039830.143180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039830.163165 s.v}bJ~,qU+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074816< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743039830.163279F (some fields omitted in printout)A@@Ar2@A^~? AA%"AA5uNA"AZAbAjArAzAAA5?5@Alj tA8n@ANAAǓAXf?A`?A;?A:<*AZ:?2AUQս:Ay_ BAZ:?JAUQսRAy_ Yt!/?:g?y>ē OٓH`H?J@??cmt?Љ?)t!/? I٘i)I9n@YoG Jv<J0JJJF&K,u> Y]~?ysMJA:g?%FZ7Z79(B)BE[[/4?[]~?[q[[[[BZYY i) 2_ elevatorAngleAction: 0.083804< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743039831.423324F (some fields omitted in printout)A{G@AXXp?@A^~? AȤA&%"AAZuNA"AZAbAjArAzAAA7y6@Ah-sAp@A܄;AF旽A v?A@+ ?A>?Aߝ<*AY:?2Aήս:Ax BAY:?JAήսRAx I٘i)I9p@YfG J<B=JJJJF&K Y+^~?yyvKA)Fa9)B[[E?[/^~?[z[[[[BZYY i)  YL^~?y^kCLA?,Fj7 9"B)B E[[uP?[=W^~?[n[[[[BZYY i) • elevatorAngleAction: 0.083804< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743039832.683302F (some fields omitted in printout)A(\ @Au @A_~? AA9%"AA}uNA"AZAbAjArAzAAAeY57@A!sAY!r@Au;AA9-?A?A+?A<*A;:?2AAֽ:ABA;:?JAAֽRA٘i)I9!r@Y^G J <JJJJF&K Y[^~?ycLA-FZ7SI7"9!B)B E[[D)V?[Wj^~?[ h[[[[BZYY i) @ elevatorAngleAction: 0.083804< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743039833.943297F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= # @At @A}C_~? ANA9%"AA##vNA"AZAbAjArAzAAA-M7@AgGsAs@AWEAŨA'?A@y?A?AJ<*A3:?2Aս:ABA3:?JAսRA٘i)I9s@YvG J<JJJJF&K Y2^~?yMMA1F77!(9B)}BE[[߂g?[^~?[S[[[[BZYY i) GV+AAY @APL @AR_~? AxA,%"AAm:vNA"AZAbAjArAzAAA)Qƀ7@AŝsA%t@AkͻAA;g?A?AN?A ><*A*:?2Aֽ:A!BA*:?JAֽRA!Y4b?gx?y&7λٓH?`~?`? S@Q?`yc?)4b? I٘i)I9t@YG Ju<J|JJJF&K|v> Yݕ^~?yE]NAx?2Fj7Z7)9B)vBE[[ Gm?[^~?[L[[[[BZYY i)  elevatorAngleAction: 0.083804< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743039835.203272F (some fields omitted in printout)AQ @Af? @Ao_~? A@kA1%"AAgvNA"AZAbAjArAzAAA!qW@L8@AHƦsAu@A)<A.LA!Ȓ?A@|G?A?A<*Aw(:?2A9ֽ:A_BAw(:?JA9ֽRA_٘i)I9u@YG J4<JJJJF&K Y3^~?y6BOA5Fŧ7b7-9)lB[[x?[j^~?[=[[[[BZYY i)  elevatorAngleAction: 0.092829< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743039836.463295F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff @A9\Y @A_~? AfVAL%"AAѤvNA"AZAbAjArAzAAA"8@A>sAw@At,AKܲAzm?A ?A?Apt<*A:?2AR&ֽ:ABA:?JAR&ֽRAY |?]o?yIܲt7-ٓH ?K@9@K??ʹ@CT?`ΑE?) |? I٘i)I9w@YG J<JJJJF&Kv> Y^~?y$PAo?9F29B)VBE[[P?[_~?[&[[[[BZYY i) BZYY i¸>) G}y@A8>OAϵAG?A)?A@?A<*AJ9?2AR$ֽ:A~ BAJ9?JAR$ֽRA~ ٘i)I9>y@YG J<JJJJF&K Y^~?y QA<F77{7w69B)HBE[[@?[}_~?[[[[[ZZZZBZYY i) zF{7j7 :9)9B[[A?[9_~?[m[[[[ZZZZBZYY i) Kt Y_~?yRA|?@F77;9)3B[[@?[E_~?[[[[[ZZZZBZYY i) .<*A:?2A{׽:Ab}x<BA:?JA{׽RAb}x<٘i)I9}@YG J+j<JJJJF&K Yk_~?yҩTAEFb77C9)B[[ui?[p_~?[۩[[[[ZZZZBZYY i) 2n"ơsA,A~@A)9ASW<A[?A U?Al?A;*A*9?2A'׽:A&<BA*9?JA'׽RA&?7$?)? I٘i)I9A~@YG Jn<JdD>JJJF&Kx> Y#_~?yʩTA?FFŧ7b7D9 B)BE[[u?[y_~?[ҩ[[[[ZZZZBZYY i`zr) \ @))@@yWQYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039841.963165 s, next control iter: 1743039842.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039842.343165 s.<%J~,X+AJ"J*J2J:J?BJ?nJ5vJAp= W@AGqI@Ak`~? AA%"AA7owNA"AZAbAjArAzAAAR9f*O:@AmָsAx}@A=4<A` {=Aܾ?A`,?A@?Ajb>*A;9?2A5Yֽ:A =BA;9?JA5YֽRA =٘i)I9}@YG J`JJJJF&K Y5_~?y(SALFj7j7K9)B[[5Я?[_~?[<[[[[BZYY i)  Y7_~?y\7SA?MF{7M9)B[[:?[_~?[壩[[[[BZYY iLh) %?[_~?[g[[[[BZYY i) &;IG?i!U =@))=@=@y _~?y1{QARF77T9)&B[[`?[f_~?[}[[[[BZYY i) ';IG?iħV @))@@8תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039844.463165 s, next control iter: 1743039844.843186 s, wait time: 0.380021 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13343, header.stamp.nsec: 00 temperature: 13.562658* salinity: 33.375584, density: 1025.000000* values[0]: 0.584097F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039844.863165 s.J "J *J 2J :J ?BJ ?nJ 5vJ +MJ~,>7Y+AA@AF@A2`~? A8Aj&"AAwNA"AZAbAjArAzAAAT6^:@A;qsAc{@AgAc=Adz?Aʸ?A`)a?AI﮼*A9?2AV׽:AC=BA9?JAV׽RAC=Yz?ś?ya= ^ٓH@P?G?ug@ ?)z? I٘i)I9{@YG JwB=J<JJJF&Kex> Y =_~?ydr^QA?TFb7V9)*B[[~?[[_~?[5t[[[[BZYY i) \;I&G?iW\ L@))L@L@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039844.903165 s, next control iter: 1743039845.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039845.283165 s.5RTJ~,RY+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066229< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743039845.283285F (some fields omitted in printout)A(\@AjTQ@A4`~? A+A&"AAwNA"AZAbAjArAzAAA>Zy:@A.lsAz@AA_=A:?AL?A@l?A]S*A9?2Aֽ:A7=BA9?JAֽRA7=٘i)I9z@YyG J߯C=JJJJF&K Y;_~?yiPAUF{7j7X9B)-BE[[?[_~?[j[[[[BZYY i) ;IAG?iޯa @))@@;ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039845.303165 s, next control iter: 1743039845.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13344., header.stamp.nsec: 0.0 temperature: 13.562900.* salinity: 33.375622., density: 1025.000000.* values[0]: 0.583424.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039845.703165 s.׺ZJ~,mY+AJ"J*J2J:JBJnJvJAQ@A;@A6`~? AAH&"AAwNA"AZAbAjArAzAAAd]:@AAgsAy@Ao>;A=A?AR?At?A0*A9?2ALֽ:A)=BA9?JALֽRA)=٘i)I9y@YG J߰B=JJJJF&K Y:_~?y`PAVF77MZ9)2B[[?[_~?[`[[[[BZYY i) >p:IG?iY4Jd _@))_@_@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039845.723165 s, next control iter: 1743039846.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039846.123165 s.7aJ~,]Y+AAG:@A1]-@A8`~? AAB&"AAzwNA"AZAbAjArAzAAA :@A#KbsA[y@A]M<A0=A'Q?Aw?A@z?A#*A9?2AG|ֽ:A@=BA9?JAG|ֽRA@=٘i)I9[y@YG JC=JJJJF&K Y`9_~?yX%PAXFŧ7ŧ7\9)6B[[:?[_~?[1W[[[[BZYY i) 3P:InG?idzf @))@@yh.̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039846.143165 s, next control iter: 1743039846.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039846.543165 s.IhJ~,âY+AJ"J*J2J:JD?BJD?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066229< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743039846.543294F (some fields omitted in printout)A= ףp@Asc@A8`~? AA&"AAwNA"AZAbAjArAzAAA.3'A:@A_]sArx@A2<A5=A?AaU?A`~?A쯩*At9?2Aֽ:A=BAt9?JAֽRA=٘i)I9x@YlG JJJJJF&K Y'8_~?y9OOAYF77]9B)9BE[[?[_~?[|M[[[[BZYY i) BIa[G?i&uf +z@))+z@+z@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039846.563165 s, next control iter: 1743039846.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13345, header.stamp.nsec: 00 temperature: 13.563183* salinity: 33.375637, density: 1025.000000* values[0]: 0.582735F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039846.963165 s.nJ~,"Y+AAffff@A`@A9`~? AݔAg~&"AAwNA"AZAbAjArAzAAAx'v:@AicXsA>x@Aƨa;AR=A?A@ETA?A*A9?2Aֽ:A<BA9?JAֽRAx@YG JDB=JxJJJF&KUx> Y4_~?yF]OA?[F77j7_9)>B[[:?[Ǭ_~?[C[[[[BZYY i) xVIGG?iշNk @))@@'ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039846.983165 s, next control iter: 1743039847.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039847.383165 s.J "J *J 2J :J ?BJ ?nJ U5vJ uJ~,IY+AA(@AѲ@A8`~? AȌAF&"AAݣwNA"AZAbAjArAzAAA҄N:@Aߕ#SsA w@AAʋ=AO?AѼA`~?AF*A9?2A^=׽:A-<BA9?JA^=׽RA-<٘i)I9w@YG JC=JJJJF&K Y/_~?y=NA\FZ7Z7wa9B)CBE[[b?[*_~?[:[[[[BZYY i) I3G?ivn @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039847.403165 s, next control iter: 1743039847.783185 s, wait time: 0.380020 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13346", header.stamp.nsec: 0"0 temperature: 13.563449"* salinity: 33.375614", density: 1025.000000"* values[0]: 0.582076"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039847.803165 s.A|J~,gY+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066229< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200502 time: 1743039847.803330F (some fields omitted in printout)A@A,e@A7`~? AA&"AA wNA"AZAbAjArAzAAA:@AXjOsA;w@A*!EAʼn=A?A@IA@z?A*Ak9?2A}[׽:Ax<BAk9?JA}[׽RAx<٘i)I9;w@YyG J#JJJJF&K Y+_~?y5NA]F77Bc9)GB[[?[Ʀ_~?[k0[[[[BZYY i) .LMIVG?ip @))@@۽YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039847.823165 s, next control iter: 1743039848.203184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743039848.223165 s.gJ~,HZ+AJ"J*J2J:JBJnJvJAzG@AD/:@A6`~? A|AW&"AAfwNA"AZAbAjArAzAAAkOc:@AjqJsA,v@AzCA3<=A?AçA`3t?Ap*A9?2AHB׽:Ac<BA9?JAHB׽RAc<٘i)I9v@Y/G JJJJJF&K Y'_~?y^,?NA_F77{7 e9B)JBE[[O?[_~?[&[[[[BZYY i) jI G?iTq @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039848.243165 s, next control iter: 1743039848.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039848.643165 s.yЉJ~,*)Z+AA ףp}@AMdp@A4`~? AtAo&"AAwNA"AZAbAjArAzAAAXݢ:@A9ؿ,EsA Jv@A9A =A,!?A]A`8k?A+*A9?2Aֽ:Ag<BA9?JAֽRAg<٘i)I9Jv@YG JJJJJF&K Y#_~?y#MA`F77f9)NB[[?[_~?[[[[[BZYY i) "2IF?ip ? @))? @? @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039848.663165 s, next control iter: 1743039849.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13347, header.stamp.nsec: 00 temperature: 13.563666* salinity: 33.375595, density: 1025.000000* values[0]: 0.581471F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039849.063165 s.J~, DZ+AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066229< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200612 time: 1743039849.063355F (some fields omitted in printout)A3333@A^(@A72`~? AlAǒ&"AAwNA"AZAbAjArAzAAAUJ:@A2B@sAu@Asr;A=A{?AuA_?AJ*A9?2Aֽ:A<BA9?JAֽRA Y_~?yMA?aF77h9)QB[[?[_~?[[[[[BZYY i7m) mûIZF?i#t {!@)){!@{!@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039849.103165 s, next control iter: 1743039849.463186 s, wait time: 0.360021 s rAdjusting time to match Gazebo time: 1743039849.483165 s.v_J~,^Z+AA\@Ao@AE/`~? A{dA/&"AAwNA"AZAbAjArAzAAAT]:@A+0[;sA*Xu@AG4<A=A4?A:AR?A>*A9?2Aҋֽ:A<BA9?JAҋֽRA<٘i)I9Xu@YSG JvJJJJF&K Y_~?y+MAcF7mj9)UB[[=?[_~?[ [[[[BZYY i) IF?ilMv [#@))[#@[#@EYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039849.523165 s, next control iter: 1743039849.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13348, header.stamp.nsec: 00 temperature: 13.563921* salinity: 33.375580, density: 1025.000000* values[0]: 0.580900F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039849.903165 s.ȝJ~,yZ+AJ"J*J2J:J?BJ?nJ5vJAQ@Aͮ@A+`~? Aw\A&"AAwNA"AZAbAjArAzAAAP.چ:@Axw6sAt@AgM<Ay=Ac?A:A`{A?A*A9?2Aҗֽ:A=BA9?JAҗֽRA=٘i)I9t@Y G JoJJJJF&K Y_~?y LAdFj7Z77l9B)ZBE[[-k?[G_~?[k[[[[BZYY i) sIF?i bw $@))$@$@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039849.943165 s, next control iter: 1743039850.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039850.323165 s.uJ~,!Z+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743039850.323273F (some fields omitted in printout)AGzT@A@:sG@A'`~? AzTAh &"AACwNA"AZAbAjArAzAAA^gz:@A&1sAlt@AN;A*=A^t?A̾AI.?AƇ*A9?2Aoֽ:A/=BA9?JAoֽRA/=٘i)I9lt@YG J艼JJJJF&K Y_~?y|wLAeF77n9)]B[[u?[H_~?[[[[[BZYY i) I2F?i\v ?&@))?&@?&@yL\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039850.343165 s, next control iter: 1743039850.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13349*, header.stamp.nsec: 0*0 temperature: 13.564147** salinity: 33.375603*, density: 1025.000000** values[0]: 0.580312*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039850.743165 s.WJ~,mZ+AJ"J*J2J:JBJnJvJAףp=@A-?2}@AL#`~? ALA &"AAنwNA"AZAbAjArAzAAA:$?m:@Ag,sA>s@AFȺA"=A#?A ]MAk?A*A9?2A!׽:A$=BA9?JA!׽RA$=٘i)I9s@YG JمJJJJF&K Y)_~?yLAgF7o9)aB[[?[y_~?[[[[[BZYY i) 3, IF?iFt (@))(@(@nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039850.763165 s, next control iter: 1743039851.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039851.163165 s.y}J~,qZ+AA@AG@AA`~? ADA &"AAwNA"AZAbAjArAzAAANH]:@ArH'sA0s@A`A=A/?A2ÿA ?A *A9?2A_U׽:A=BA9?JA_U׽RA=Y??y =ٓHտa?@cտ`y?W؃@F?)? I٘i)I9s@Y<G JJi;JJJF&K{x> Y^~?yKA?hFj7Z7q9)dB[[?[p_~?[<[[[[BZYY i) e/IzF?iv )@)))@)@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039851.183165 s, next control iter: 1743039851.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039851.583165 s.J~, SZ+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743039851.583284F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\@A"3@A`~? A<AE: &"AAwwNA"AZAbAjArAzAAAFZL:@As #sAs@A)nPA.=ABs?AſA ?A넼*A9?2AR׽:Aj=BA9?JAR׽RAj=٘i)I9s@YG J0JJJJF&K Y^~?ydeKAiF77j7bs9B)iB E[[!?[e_~?[ڨ[[[[BZYY i) ;?IfF?iw 2+@))2+@2+@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039851.603165 s, next control iter: 1743039851.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13350, header.stamp.nsec: 00 temperature: 13.564386* salinity: 33.375584, density: 1025.000000* values[0]: 0.579748F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039852.003165 s.v J~,D4[+AAR+@Aӈ}@A`~? A4A &"AAnwNA"AZAbAjArAzAAAP<ٓH@ۿG`?6ۿ{?@? ?`?)"? I٘i)I91q@YG JJ@<JJJF&Kx> Y^~?yǨIAa@oF77{7z9B)zBE[[@[5_~?[ඨ[[[[BZYY i) T|IF?iHs U|1@))U|1@U|1@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039853.283165 s, next control iter: 1743039853.663177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13352., header.stamp.nsec: 0.0 temperature: 13.385644.* salinity: 33.391632., density: 1025.000000.* values[0]: 0.700741.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039853.683165 s.lJ~,k[+AA(\@Aw@A4_~? AAW3&"AACwNA"AZAbAjArAzAAAS'TaH9@A0rZ sA4p@A,<Aș=AA@Av5οA;=BA9?JAֽRA>;=٘i)I9p@YxG JB=JJJJF&K YA^~?yIApF777X|9B)B[[B@['_~?[[[[[BZYY i)  IiE?iFs  3@)) 3@ 3@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039853.683165 s, next control iter: 1743039854.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743039854.103165 s.'J~,[+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199122 time: 1743039854.103300F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8@AvMH+@A_~? A6A&"AAP7wNA"AZAbAjArAzAAAtqF.9@AqsAp@A5:;Au=A@AzпAy?A8*A=9?2A@ֽ:A=BA=9?JA@ֽRA=٘i)I9p@Y#G JC=JJJJF&K Y^~?yɷIAqF77"~9B)BE[[@[m_~?[q[[[[BZYY i) IE?iƼq C4@))C4@C4@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039854.143165 s, next control iter: 1743039854.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039854.523165 s.J~,{[+AAHzn@Aȱ a@A{_~? AA)]&"AA)wNA"AZAbAjArAzAAAS#9@A}sAbo@A2ϻA=A S@A[пA?Aå*A9?2A,׽:A|=BA9?JA,׽RA|=٘i)I9o@YG JJJJJF&K Y^~?yܯHAsF)7)79)BE[[)@[K _~?[뜨[[[[BZYY i) |0IE?imn L36@))L36@L36@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039854.543165 s, next control iter: 1743039854.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13353, header.stamp.nsec: 00 temperature: 13.385900* salinity: 33.391666, density: 1025.000000* values[0]: 0.699584F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039854.943165 s.WdJ~,>][+AJ"J*J2J:JBJnJvJAq= ף@A˖@A_~? A"Ad&"AAwNA"AZAbAjArAzAAA߈i9@ArAo@A GA=A @A ѿAù?Ao禼*A9?2AH׽:Aܚ =BA9?JAH׽RAܚ =٘i)I9o@YyG J?JJJJF&K YZ^~?ySHAtF77{79)B[[?@[^~?[[[[[BZYY i) iIeE?i|Fj W7@))W7@W7@ ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039854.983165 s, next control iter: 1743039855.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039855.363165 s.J~,@[+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086949< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200612 time: 1743039855.363366F (some fields omitted in printout)A@A G@A_~? AAj&"AA wNA"AZAbAjArAzAAA o9@AXrAeyn@A=Av=A@A ҿAj?A_E*AѾ9?2AX$׽:A=BAѾ9?JAX$׽RA=Ys?@ys=1>ٓH޾O8vL'?`@S?; p R?)s? I٘i)I9yn@Y$G JJ$<JJJF&KJx> Y^~?yrGA@uF779 B)BE[[9@[^~?[F[[[[BZYY i) D5IE?i'j V9@))V9@V9@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039855.403165 s, next control iter: 1743039855.763180 s, wait time: 0.360015 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13354&, header.stamp.nsec: 0&0 temperature: 13.386168&* salinity: 33.391663&, density: 1025.000000&* values[0]: 0.698434&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039855.783165 s.XJ~,[+AJ"J*J2J:J2?BJ2?nJ|;5vJA(\@AO7P@A._~? APA-&"AA2vNA"AZAbAjArAzAAAO9@A!#srA.m@AWA =Ah9 @A[ӿA4W?A5*Az9?2Aֽ:Az=BAz9?JAֽRAz=٘i)I9m@YG JJJJJF&K Yu^~?y|GAwFŧ7b7M9)B[[Th @[ ^~?[$[[[[BZYY i) -I,E?iǵ٭h :@)):@:@y3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039855.823165 s, next control iter: 1743039856.183179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039856.203165 s.J~, \+AAQE@A 8@A_~? AA&"AAvNA"AZAbAjArAzAAAs_ .9@A'ϣqrA"Um@A;A˥=Az @A`FiԿA #?A*A:9?2Aqֽ:Au=BA:9?JAqֽRAu=٘i)I9Um@YrG JpJJJJF&K Yf^~?ywGAxFb779 B)BE[[ @[]^~?[(|[[[[BZYY i) IވE?i@)) >@ >@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039856.663165 s, next control iter: 1743039857.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13355 , header.stamp.nsec: 0 0 temperature: 13.386444 * salinity: 33.391689 , density: 1025.000000 * values[0]: 0.697246 F (some fields omitted in printout).X^~?). rAdjusting time to match Gazebo time: 1743039857.043165 s.J~,B\+AA= ף@A+w@A_~? AکAd&"AAvNA"AZAbAjArAzAAA8@A!>3rAl@AtK<A=A @AֿA?A*A9?2A[Jֽ:A|=BA9?JA[JֽRA|=٘i)I9l@YG JtJJJJF&K YDI^~?y|9FA{F{7{79 B)BE[[1@[Y^~?[l[[[[BZYY i) ¼IkcE?i*\ ?@))?@?@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039857.063165 s, next control iter: 1743039857.443184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743039857.463165 s.bJ~,]\+AJ"J*J2J:JBJnJvJAffff@A-\@A_~? AөAH&"AApvNA"AZAbAjArAzAAAW8@AnP'rAtk@A;A%=A<`@A ֿA {x?Aļ*A9?2ASֽ:AL=BA9?JASֽRAL=Yc@i@y$=D;ٓHhVfuzWL?`}vC=?@ς|??)c@ I٘i)I9tk@YMG J/üJq<JJJF&K?x> Y8^~?y{EAi@|F777x9)B[[@[^~?[*e[[[[BZYY i) RKɼI QE?i%Z (A@))(A@(A@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039857.483165 s, next control iter: 1743039857.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13356, header.stamp.nsec: 00 temperature: 13.386720* salinity: 33.391689, density: 1025.000000* values[0]: 0.695975F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039857.883165 s.yJ~,8x\+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086949< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743039857.883280F (some fields omitted in printout)A(@A9@A0_~? A̩A/&"AA9vNA"AZAbAjArAzAAAOǙ8@AϙrAj@A\ AV=A@A`׿A`p:?Aļ*A,9?2Aֽ:A =BA,9?JAֽRA =٘i)I9j@YG JļJJJJF&K Y&^~?ytQEA}Fb77B9B)BE[[J@@[z^~?[][[[[BZYY i) ؒмI>E?i+FX B@))B@B@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039857.903165 s, next control iter: 1743039858.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039858.303165 s.Z$J~,g\+AJ"J*J2J:JBJnJvJAQ@AGD@A{_~? AũA+Z&"AAMvNA"AZAbAjArAzAAA v-q8@A庻`rA)j@A/$A=A@AؿA`#?AqƼ*A9?2A)׽:A'=BA9?JA)׽RA'=٘i)I9)j@YG JżJJJJF&K Y^~?ymDAF777 9B)BE[[@[|f^~?[V[[[[BZYY i) &׼I-E?iߥoQT FD@))FD@FD@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039858.323165 s, next control iter: 1743039858.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13357*, header.stamp.nsec: 0*0 temperature: 13.387037** salinity: 33.391682*, density: 1025.000000** values[0]: 0.694629*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039858.723165 s.+J~,H\+AAz@AP3z@Am_~? AľAz&"AA{vNA"AZAbAjArAzAAA MD3G8@A%Z5rAi@A:PA˳=Ad@A iٿA?AX=ʼ*A9?2A!׽:AW=BA9?JA!׽RAW=٘i)I9i@YG JȼJJJJF&K Y^~?yfhDAF{7ؑ9B)ƯBE[[]@[Q^~?[O[[[[BZYY i) #߼IE?iaO E@))E@E@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039858.743165 s, next control iter: 1743039859.123182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743039859.143165 s.S/2J~,)\+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086949< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743039859.143285F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@A8d@A__~? AAe&"AAffvNA"AZAbAjArAzAAA1,8@AqAfrAxh@A A=A!@A`3ڿA pt?AQм*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9h@Y G J̼JJJJF&K Yg]~?y_CAF{7779)˯B[[@[)<^~?[H[[[[BZYY i) kI E?ilH dG@))dG@dG@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039859.163165 s, next control iter: 1743039859.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039859.563165 s.8J~,N \+AA3333@A(@AP_~? A`A&"AArPvNA"AZAbAjArAzAAAZ&;7@A rAL#h@AַA=A@AڿAa/?Azxؼ*A69?2Asֽ:ATS=BA69?JAsֽRATS=Y~@@y=׷ٓH` G'z /?@@?r?)~@ I٘i)I9#h@YH G JԼJI<JJJF&K x> Y]~?y1YyCA@F77m9B)үBE[[2w@[/&^~?[(B[[[[ZZ¸BZYY i¸1Q=) WڼI+D?iF H@))H@H@fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039859.583165 s, next control iter: 1743039859.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13358, header.stamp.nsec: 00 temperature: 13.387358* salinity: 33.391708, density: 1025.000000* values[0]: 0.693272F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039859.983165 s.?J~,\+AJ"J*J2J:Jz1?BJz1?nJ:5vJA\(@Aq@AA_~? AҪAh&"AA9vNA"AZAbAjArAzAAABL7@A rAjg@A <A =A3-@A#ۿA?A?߼*A9?2A%#ֽ:A0i =BA9?JA%#ֽRA0i =٘i)I9jg@Y G JۼJJJJF&K Y]~?yRBAF77789B)گBE[[@[^~?[;[[[[ZZBZYY i) DμID?iؗ\B G))G{J@FYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039860.003165 s, next control iter: 1743039860.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039860.403165 s.&FJ~,]+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083651< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743039860.403298F (some fields omitted in printout)AQ^@Ag Q@A92_~? A]A&"AA"vNA"AZAbAjArAzAAAو7@A$'rAݚf@A\P<AP=At@A'{ܿAR?ArY*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9f@YY G J_JJJJF&K Y\]~?yfLBAF{7j79B)BE[[N@[]~?[e5[[[[ZZBZYY i) _0¼ID?i퓿]Y= DF))DFqL@FYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039860.423165 s, next control iter: 1743039860.803181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13359", header.stamp.nsec: 0"0 temperature: 13.387686"* salinity: 33.391701", density: 1025.000000"* values[0]: 0.691819"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039860.823165 s.LJ~,24]+AJ"J*J2J:JBJnJvJAGz@Ao@A?"_~? AA4e&"AA vNA"AZAbAjArAzAAA༨a7@A`1|6rAMe@A#<AQ8=A@A@:ݿA@Q?A **As9?2ACCֽ:AZ<BAs9?JACCֽRAZ<٘i)I9e@Y G J JJJJF&K Y]~?yFBAF777͚9B)BE[[,@[]~?[P/[[[[ZZBZYY i) ID?i7 D))DʒM@y'="תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039860.843165 s, next control iter: 1743039861.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039861.243165 s.SJ~,O]+AAףp=@AL3@A_~? AAh&"AA elevatorAngleAction: 0.083651< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743039861.663287F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13360, header.stamp.nsec: 00 temperature: 13.388099* salinity: 33.391708, density: 1025.000000* values[0]: 0.690056F (some fields omitted in printout)A@Ap@A_~? AAY&"AAuNA"AZAbAjArAzAAA26@AĹmrAd@AWfA.4=A-o@Ap޿Aశ?A=м*AC9?2Apֽ:Aӿ;BAC9?JApֽRAӿ;Yrc @i@y̘4=sٓH,@?4?@:@?)rc @ I٘i)I9d@Y G JhJY޽JJJF&K!w> YD}]~?y9OAAi@FZ7c9B)BE[[' @[ ]~?[#[[[[ZZBZYY i@`=) 6IaD?i\+ xA))xAۦP@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039861.683165 s, next control iter: 1743039862.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039862.083165 s.DaJ~,R]+AA)\5@A%(@A^~? AA&"AA\uNA"AZAbAjArAzAAAq6@ArAvc@A3\A6<AJ@Am߿A f?AĨ*A 9?2Aqֽ:Ag$BA 9?JAqֽRAg$٘i)I9vc@Yp G JJJJJF&K Yg]~?y4AAF77{7-9B)BE[[ϯ!@[]~?[*[[[[ZZBZYY i) dIUD?iA' S?))S?b0R@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039862.123165 s, next control iter: 1743039862.483176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039862.503165 s.gJ~,@4]+AJ"J*J2J:Ju0?BJu0?nJ95vJARk@AW z^@A@^~? AAE&"AAuNA"AZAbAjArAzAAAmk~6@A>TrAdb@A8LAlM*<A@AA#?A\O~*A9?2Afֽ:A'BA9?JAfֽRA'٘i)I9b@Y" G JuJJJJF&K Y}R]~?yL.@AF779B)BE[[T6#@[]~?[[[[[ZZBZYY i) IʑD?i{8! 'f>))'f>S@쀩YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039862.543165 s, next control iter: 1743039862.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13361, header.stamp.nsec: 00 temperature: 13.388418* salinity: 33.391727, density: 1025.000000* values[0]: 0.688654F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039862.923165 s.8nJ~,]+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073426< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743039862.923285F (some fields omitted in printout)A{G@AnB<@AB^~? AA&"AAuNA"AZAbAjArAzAAAԌ\6@A+HƯrAb@AAěAT@AkA?A{73*A9?2A{ֽ:AΜtBA9?JA{ֽRAΜtI٘i)I9b@Y G Jw^JJJJF&K Y=]~?y(@AFb77ã9B) B޹E[[$@[g]~?[[[[[ZZBZYY i+=) }}I܄D?isp <))<AU@yJ =(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039862.963165 s, next control iter: 1743039863.323176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039863.343165 s.<ٓH0[u?T\?@5<%@"?ܾ?z?)@ I٘i)I99b@Y G JJh7JJJF&KFx> Y]~?y@A!@Fb77X9)B[['@[4]~?[ [[[[BZYY iJk=) rYVIlD?i0\ 9))9NX@ym={)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039863.783165 s, next control iter: 1743039864.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039864.183165 s.˂J~,g ^+AJ"J*J2J:J0?BJ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057444< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743039864.183322F (some fields omitted in printout)A(\B@A߃5@A^~? AoA&"AA5uNA"AZAbAjArAzAAAڵ$6m5@AU1ብrA3b@A܍I<A.AB#@A@jA lp?A:*A9?2A~ֽ:AӭBA9?JA~ֽRAӭ弙٘i)I93b@Y G JhUJJJJF&K Y]\~?y@AF77#9"B)BعE[[C)@[]~?[[[[[BZYY i,=) DIuaD?i^SF K8))K80Y@yw=qj*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039864.223165 s, next control iter: 1743039864.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039864.603165 s.34J~,&^+AAQx@A[$Fk@A^~? AiAm&"AAuNA"AZAbAjArAzAAA7gw5@A8q"ErAOb@A!;ASVAg$@A޺A?A1;*A9?2A„ֽ:A]DBA9?JA„ֽRA]D٘i)I9Ob@Y G JV;JJJJF&K Y/\~?y@AFŧ7b79$B)BչE[[*@[H]~?[>[[[[BZYY i) W3IVD?iHW 6))6 Y[@y\d=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039864.623165 s, next control iter: 1743039865.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13363 , header.stamp.nsec: 0 0 temperature: 13.388719 * salinity: 33.391747 , density: 1025.000000 * values[0]: 0.687531 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039865.023165 s.ZJ~J,{A^+A"J*J2J:J0?BJ0?nJ85vJAHz@A E @Al^~? AsdA3&"AAtNA"AZAbAjArAzAAAh%V;5@A3rAb@AK5NAgtAG%@AA?An/<*A9?2A3ֽ:A5BA9?JA3ֽRA5٘i)I9b@Y G J <JJJJF&K Y\~?y~AAFb779'B)BѹE[[A,@[\~?[&[[[[BZYY i) U!ILD?i;E B5))B5\@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039865.063165 s, next control iter: 1743039865.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039865.443165 s.4ÖJ~,1]\^+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067468< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743039865.443264F (some fields omitted in printout)Aq= @A@AX^~? AY_A1:&"AAtNA"AZAbAjArAzAAA |B4@ASrAb@A5AIA'@AWUAG?A$}g<*A9?2Auս:AOBA9?JAuսRAO٘i)I9b@Y G JI<JJJJF&K Yֳ\~?ym 2AAF9)B[[-@[h\~?[F[[[[BZYY i) UIJCD?i,Tݻ 3))3_^@f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039865.463165 s, next control iter: 1743039865.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13364, header.stamp.nsec: 00 temperature: 13.388646* salinity: 33.391754, density: 1025.000000* values[0]: 0.687829F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039865.863165 s.+J~,>w^+AJ"J*J2J:J0?BJ0?nJ85vJA@A0 @AD^~? A_ZA&"AAȽtNA"AZAbAjArAzAAA&3`14@ArAHc@AYAA](@AEA?A<*A+9?2Aֽ:ABA+9?JAֽRAY8f@[l(@y~DBZٓH J߿?\*?=0t`m? 6)?)8f@ I٘i)I9Hc@YT G J{<JJJJF&Knw> Y1\~?y!AAl(@Fŧ7N9(B)BιE[[:/@[\~?[[[[[BZYY inj=) In:D?i$һ w@2))w@2>_@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039865.903165 s, next control iter: 1743039866.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039866.283165 s.6RJ~,^+AA(\O@A[;QB@AT/^~? AUA&"AAtNA"AZAbAjArAzAAA\&o%4@A+rA|c@AZ AA)@AAz?A<*A89?2AKֽ:ABA89?JAKֽRA٘i)I9c@Y G Jˏ<JJJJF&K Y\~?yAAFj7j79*B) B˹E[[h0@[v\~?[[[[[BZYY i)  @I2D?iPƻ 0))0^a@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039866.303165 s, next control iter: 1743039866.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13365., header.stamp.nsec: 0.0 temperature: 13.388515.* salinity: 33.391769., density: 1025.000000.* values[0]: 0.688565.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039866.703165 s.ԺJ~,^+AJ"J*J2J:JE0?BJE0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057235< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743039866.703281F (some fields omitted in printout)AQ@Ax@A8^~? APA0Z&"AA~tNA"AZAbAjArAzAAA i>$A4@A:6girADd@A:A♽A+@Aj2A g?A<*A9?2A1ֽ:A#[BA9?JA1ֽRA#[٘i)I9Dd@Y G Jt<B=JJJJF&K Yi\~?yTBAF77㳶9+B) BȹE[[.2@[Qz\~?[[[[[BZYY i) 2ĻIq*D?i A/))A/b@_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039866.723165 s, next control iter: 1743039867.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039867.123165 s.5J~,T^+AAG@A֭@A^~? AQ\~?y<BAFŧ779*B)B[[3@['_\~?[[[[[BZYY i) sХI#D?i/ 8-))8-}[d@y#j=y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039867.163165 s, next control iter: 1743039867.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039867.543165 s.IJ~,^+AJ"J*J2J:JBJnJvJA= ף@A *@A]~? AGA( &"AA=tNA"AZAbAjArAzAAAuNW3@At\rA]e@AY<Ai횽A-@A` A`c?AQ<*A9?2A׽:A.BA9?JA׽RA.٘i)I9]e@Y G J=<JJJJF&K Y8\~?yCAF{7{7x9,B)BŹE[[T5@[C\~?[[[[[BZYY i) {IwD?iuᾉiK )H,)))H,e@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039867.583165 s, next control iter: 1743039867.943180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13366, header.stamp.nsec: 00 temperature: 13.388339* salinity: 33.391754, density: 1025.000000* values[0]: 0.689480F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039867.963165 s.zJ~,^+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057235< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743039867.963308F (some fields omitted in printout)Affff&@As ]@A]~? A~CAb&"AAtNA"AZAbAjArAzAAA)t~{3@AT+rAIe@A&<AA.@AA`?Af<*A}9?2A ֽ:A76BA}9?JA ֽRA76Y\ @.@yI'<ٓH Ji[ٿA?U?a?@ڄ?`?)\ @ I٘i)I9e@Y G J1<B=J5JJJF&K(x> Y\~?yq{CA.@Fŧ7b7C9-B)B¹E[[܎6@[c(\~?[B[[[[BZYY i) IQID?iϾW *))*Rg@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039868.003165 s, next control iter: 1743039868.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039868.383165 s.J~,4_+AJ"J*J2J:JBJnJvJA(\@A&BO@A]~? AT?Ai&"AA;sNA"AZAbAjArAzAAAvF83@AYlrAf@ALq:AA@0@A`u=A X?AL<*A9?2ATֽ:ABA9?JATֽRA٘i)I9f@YI G J<C=JJJJF&K Y\~?yCAFb7790B)BE[[18@[ \~?[[[[[BZYY iȇ=) `ID?iql R)))R)h@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039868.403165 s, next control iter: 1743039868.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13367&, header.stamp.nsec: 0&0 temperature: 13.388149&* salinity: 33.391750&, density: 1025.000000&* values[0]: 0.690475&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039868.803165 s.|AJ~,g3_+AA@A@A8]~? AN;Az&"AADsNA"AZAbAjArAzAAAx2@A#rAcg@AэAA1@A`:zA?A<*A9?2A0Pֽ:A#BA9?JA0PֽRA#٘i)I9g@Y G J}<JJJJF&K Y[~?ysIDAF777ؼ91B)BE[[7u9@[#[~?[[[[[BZYY i) 豺ID?iJ '))'%Fj@?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039868.843165 s, next control iter: 1743039869.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039869.223165 s.J "J *J 2J :J 0?BJ 0?gJ~nJ~95vJ,IN_+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066301< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743039869.223300F (some fields omitted in printout)Az@Aaۢ@Ah]~? Am7AR&"AAsNA"AZAbAjArAzAAABw2@ANrA3g@ARAAu2@A`A ?A<*A9?2ABֽ:AqBA9?JABֽRAq٘i)I9g@Y G Js<JJJJF&K Y[~?yDAF779)B[[U:@[[~?[ߧ[[[[BZYY i) nI7 D?i6$ a&))a&k@|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039869.263165 s, next control iter: 1743039869.623180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039869.643165 s.wJ~, *i_+AA ףp@Awe@AW~]~? A3AS&"AA'sNA"AZAbAjArAzAAAVIh2@A2SQrA0h@A :AA!4@A@AlH?A<*A9?2A3nֽ:AZBA9?JA3nֽRAZ٘i)I90h@YP G JC<JJJJ F&K Y[~?ywEAF77n92B)BE[[|P<@[[~?[ݧ[[[[BZYY itReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13368, header.stamp.nsec: 00 temperature: 13.387917* salinity: 33.391762, density: 1025.000000* values[0]: 0.691523)F (some fields omitted in printout) ؿ9ID?i=e k$))k$J4m@yɹ=Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039869.683165 s, next control iter: 1743039870.043178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039870.063165 s.J~,_ _+AJ"J*J2J:J1?BJ1?nJ95vJA33333@A(&@Ag]~? A0A&"AAqsNA"AZAbAjArAzAAA :!2@A})p rAIh@A/s|AN䆽A9p5@A@$A6l?A<*A9?2AMֽ:A|BA9?JAMֽRA|Y@n'@ct5@y 䆽|ٓHq`?Qӿi?B?݁ ebٰ?`o -?)@n'@ I٘i)I9h@Y G J@<J3<JJJ F&K1x> Y[~?yߧqEAt5@F78¶93B)BE[[1=@[<[~?[ ܧ[[[[BZYY i) c:ID?i1 u#))u#n@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039870.083165 s, next control iter: 1743039870.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039870.483165 s.x_J~,_+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066301< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743039870.483293F (some fields omitted in printout)A\h@AGg[@A}O]~? A,A) &"AAMsNA"AZAbAjArAzAAAT}1@A(dj}rA/.i@AsϺ;AfA6@AYA?A!<*A9?2A׽:AVBA9?JA׽RAV٘i)I9.i@Y G JR<JJJJ F&K Y$[~?y'ݧEAFĶ95B)BE[[-?@[l[~?[ڧ[[[[BZYY i) >;IMD?i ʽN "))"p@j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039870.503165 s, next control iter: 1743039870.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13369, header.stamp.nsec: 00 temperature: 13.387735* salinity: 33.391758, density: 1025.000000* values[0]: 0.692467F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039870.903165 s.J~,͹_+AJ"J*J2J:JBJnJvJAQ@Avꭑ@A7]~? A])Ak &"AA)sNA"AZAbAjArAzAAAgZo1@A%^{rAСi@A I<AAy8@AKA W?A6<*A9?2A(׽:ABA9?JA(׽RA뼙٘i)I9i@Y1G J<JJJJ F&K Y3f[~?y~ڧ&FAFj7j7Ŷ96B)BE[[ߘ@@[f[~?[W٧[[[[BZYY i) &Z;ID?i'5=  )) ̒q@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039870.923165 s, next control iter: 1743039871.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039871.323165 s.rJ~,_+AAGz@Ahs@A]~? A9&A &"AAsNA"AZAbAjArAzAAA-4fI1@AbyrAj@AK<A;Ai9@A A:?A<*A9?2A׽:ALBA9?JA׽RAL뼙٘i)I9j@YuG J-<B=JJJJ F&K YAK[~?yקFAF7)7Ƕ97B)BE[[HB@[K[~?[Kا[[[[BZYY i!ʙ=) &;ID?ig<79 S))Sbs@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039871.343165 s, next control iter: 1743039871.723175 s, wait time: 0.380010 sAK[~?)ק*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13370*, header.stamp.nsec: 0*0 temperature: 13.387570** salinity: 33.391762*, density: 1025.000000** values[0]: 0.693286*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039871.743165 s.WJ~,q_+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075093< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743039871.743278F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= @A,&6@A]~? A<#A &"AA rNA"AZAbAjArAzAAA$Qk1@A0HGwrA~j@A;A3A:@AA?A;<*A69?2Aֽ:AYBA69?JAֽRAY٘i)I9~j@YG J<C=JJJJ F&K YR0[~?y.էFAF77{7cɶ9)B[[ifC@[/[~?[qק[[[[BZYY i) Zӫ;ID?i=b: ))vt@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039871.763165 s, next control iter: 1743039872.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039872.163165 s.z}J~,q `+AA@@AY2@A1\~? Ag A!&"AAErNA"AZAbAjArAzAAA'w0@ArurAbj@AgA$kA ;@AKA?A?<*A9?2Aֽ:ABA9?JAֽRAY-@;@yj=hٓH Eʿ(J?@T?T@`*?@l?)-@ I٘i)I9j@YG J<J;JJJ F&K1x> Y[~?ydӧ2GA;@F.˶98B)BE[[D@[[~?[֧[[[[BZYY i) I;ID?i>W: 9))9u@-*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743039872.183165 s, next control iter: 1743039872.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039872.583165 s.J~,S%`+AJ"J*J2J:J1?BJ1?nJ3:5vJA)\u@A#h@A\~? AAU!&"AA7rNA"AZAbAjArAzAAA^pl0@AsrA[k@AN7AyA9=@A`A;A p>?A@<*A9?2AYֽ:A:BA9?JAYֽRA:٘i)I9[k@Y>G JŃ<JJJJ F&K YZ~?yѧGAFb77̶99B)ޯBE[[5F@[SZ~?[K֧[[[[BZYY i) ;I[ D?i7>xB: M))MhUw@y™=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039872.603165 s, next control iter: 1743039872.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13371, header.stamp.nsec: 00 temperature: 13.387428* salinity: 33.391739, density: 1025.000000* values[0]: 0.694042F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039873.003165 s. J~,v4@`+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075093< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743039873.003308F (some fields omitted in printout)AR@A6x@A\~? A1A!&"AAqrNA"AZAbAjArAzAAAjm+!0@A^rrAk@ANNUAA`>@A#aAmo?A0م<*AL9?2Acֽ:AdBAL9?JAcֽRAd٘i)I9k@YG JT<JJJJ F&K YTZ~?yϧGAFj7j7ζ9;B)ݯBE[[G@[Z~?[֧[[[[BZYY i) 4p; '\))'\x@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039873.043165 s, next control iter: 1743039873.403187 s, wait time: 0.360022 s rAdjusting time to match Gazebo time: 1743039873.423165 s.uJ~,[`+AJ"J*J2J:J1?BJ1?nJh:5vJA{G@A`;@A\~? AA|!&"AATLrNA"AZAbAjArAzAAA8/@A|ߢprA7;l@AA`ㅽA?@A@A@?A<*A69?2A\ֽ:AGWBA69?JA\ֽRAGW٘i)I9;l@YG J<JJJJ F&K YZ~?yΧ7HAFZ7ж9wD; [))[Z0z@-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039873.443165 s, next control iter: 1743039873.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13372, header.stamp.nsec: 00 temperature: 13.387299* salinity: 33.391743, density: 1025.000000* values[0]: 0.694828F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039873.843165 s.J~,u`+AAp= @A~ @A\~? AA\!&"AA&rNA"AZAbAjArAzAAA/@AyorAl@AP:A%AM0A@A A?Aރ<*A<9?2Aֽ:A GBA<9?JAֽRA G٘i)I9l@Y G Jy<JJJJ F&K YZ~?y;̧HAF)7)7YҶ9=B)دBE[[XJ@[Z~?[է[[[[BZYY i) ˘$=s; C))Cr{@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039873.863165 s, next control iter: 1743039874.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039874.263165 s.$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: 0.075093< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743039874.263285F (some fields omitted in printout)AL@A?@Ar\~? AA"&"AArNA"AZAbAjArAzAAA#{.@AiQnrA)m@A=<AŠA]B@AA ?A <*Af9?2A-׽:A5TBAf9?JA-׽RA5TYav4@|B@y)gR <ٓH`~?2?f?T?r??)av4@ I٘i)I9m@YMG J<J1JJJ F&KZx> YZ~?yT˧HA|B@Fb77#Զ9>B)կBE[[K@[YZ~?[>֧[[[[BZYY i) 04'A; ))}@ɼ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039874.303165 s, next control iter: 1743039874.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 133732, header.stamp.nsec: 020 temperature: 13.3871252* salinity: 33.3917392, density: 1025.0000002* values[0]: 0.6956162F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039874.683165 s.l*J~,`+AA(\@Au@AY\~? AA5"&"AACqNA"AZAbAjArAzAAA{s-@A9; s))sBo~@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039874.683165 s, next control iter: 1743039875.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743039875.103165 s.1J~,`+AJ"J*J2J:JBJnJvJAQ@A+MF@A&@\~? AA4Y"&"AAسqNA"AZAbAjArAzAAA$#d#G-@AelrA}m@AQ<A͂A!E@AA@n"?AT[<*Ac9?2Aֽ:ABAc9?JAֽRA٘i)I9m@YG J<JJJJ F&K YQZ~?yɧIAFZ7׶9)ϯB[[vN@[nUZ~?[Nק[[[[BZYY i) Y S*D?i?; H))H@*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743039875.123165 s, next control iter: 1743039875.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039875.523165 s.7J~,{`+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075093< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743039875.523293F (some fields omitted in printout)AHz@A~;@A&\~? A^Ay"&"AAAqNA"AZAbAjArAzAAAK,@Az&krA2vn@Ax:Ah+AdF@A`'AF?A<*A`9?2Aֽ:AB BA`9?JAֽRAB ٘i)I9vn@Y"G J<JJJJ F&K Y5Z~?yȧJAF)7ŧ7ٶ9)̯BE[[O@[:Z~?[ا[[[[BZYY iY=) bJ~nJ:5vJ,>]`+AAq= #@AUQ@A \~? A AЖ"&"AAfqNA"AZAbAjArAzAAAv0,@Aꢌ0JjrAn@A2AcAbG@A'APվ?Ac<*Aƺ9?2AQֽ:A} BAƺ9?JAQֽRA} ٘i)I9n@YpG JB<JJJJ F&K Y}Z~?yǧ_JAF77N۶9@B)ȯBE[['Q@[ Z~?[ ٧[[[[BZYY i) ra+AAY@AlL@AO[~? A A"&"AA?qNA"AZAbAjArAzAAA u+@A6,irA|o@AUA)A H@A:A`?A <*A9?2A;ֽ:ABA9?JA;ֽRAY:@H@yۀ@VٓH rg`a?@P?I??):@ I٘i)I9|o@YG J<JrJJJ F&Kw> Y?Y~?yǧJAH@F77ݶ9AB)ůBE[[R@[Z~?[0ڧ[[[[BZYY i) m elevatorAngleAction: 0.084155< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743039876.783335F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@At?P@A[~? A A"&"AAqNA"AZAbAjArAzAAAn*@A+vhrAp@A.5AAGA` JAL?A5<*A˯9?2A^gֽ:ABA˯9?JA^gֽRA٘i)I9p@YG J<JJJJ F&K YY~?yǧ+KAFb7b7޶9)BE[[ S@[Y~?[~ۧ[[[[BZYY i) ( elevatorAngleAction: 0.084155< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743039878.043281F (some fields omitted in printout)A= ף0 @As# @Aߋ[~? AX A"&"AApNA"AZAbAjArAzAAA{)@A0̤ygrAoq@AwJ<AACA9kA5?A<*A79?2AX.׽:ABA79?JAX.׽RA٘i)I9q@YG J<JJJJ F&K YOY~?yǧ\LAF{7j7C9CB)BE[[~W@[Y~?[X[[[[BZYY i)  ߞ Y8pY~?yȧLABF77779)B[[s(Y@[pY~?[L[[[[BZYY i) A elevatorAngleAction: 0.084155< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743039879.303313F (some fields omitted in printout)A @A\ @A=[~? AAD#&"AA,pNA"AZAbAjArAzAAA, )'@AIfrA;ds@AkوA"sA@A(uAfX?Aǿ<*A9?2AeNֽ:AZBA9?JAeNֽRAZI٘i)I9ds@Y"G J<JJJJ F&K Y8Y~?ySʧMAFb779)BzE[[Y[@[oSY~?[[[[[BZYY i) A`sA`~A.<*A9?2Aֽ:ABA9?JAֽRA٘i)I9t@YG Jq<JJJJ! F&K YY~?y5˧NAF7{7n9DB)BwE[[ ]@[:Y~?[[[[[BZYY i) d elevatorAngleAction: 0.084155< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743039880.563280F (some fields omitted in printout)A3333s!@A.'f!@AZ~? A8 Ad#&"AAֶoNA"AZAbAjArAzAAA:Q%@A yfgrA^u@AaAAr$<AiA A<*A9?2Adqֽ:A-BA9?JAdqֽRA-YG@ YGX~?yͧNA<FZ7Z79)BqE[[-_@[ Y~?[@[[[[BZYY i) b+AJ"J*J2J:J3?BJ3?nJZ<5vJA\!@Ak) !@A Z~? A AX"&"AAoNA"AZAbAjArAzAAAtH$@A$grA0 v@A :A}A:A`A A!<*Aދ9?2AZֽ:ABAދ9?JAZֽRA٘i)I9 v@YG J<JJJJ% F&K YX~?yϧuOAF7779EB)BnE[[`@[X~?[[[[[BZYY i) A elevatorAngleAction: 0.084155:J< massPositionAction: 0.000000BJ4 buoyancyAction: 0.000500nJ dt: 0.420000vJ2 time: 1743039881.823286F (some fields omitted in printout)AGz"@A.o"@AUZ~? A` A"&"AAAoNA"AZAbAjArAzAAAez#@ASKhrA`w@AV<AgҲA8AGA 󊶿A <*A9?2A ׽:AFBA9?JA ׽RAF٘i)I9`w@YG J<JJJJ( F&K YbX~?y+ӧaPAF77{7d9)B[[c@[X~?[![[[[BZYY i=) %BZYY i¸>*)  YZX~?yקQQA5F{7{79)~BfE[[f@[lX~?[[[[[ZZZZBZYY i) tX~?[Y [[[[ZZZZBZYY i) ȑϘ< ))鿩3@\s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039884.383165 s, next control iter: 1743039884.743175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13383&, header.stamp.nsec: 0&0 temperature: 13.384793&* salinity: 33.391666&, density: 1025.000000&* values[0]: 0.707270&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039884.763165 s.:J~,,0c+AǍ#@A#@AY~? AA"&"AA)2nNA"AZAbAjArAzAAAMB@A Z=orAG|@A\<A0ҼA/A 'AIȿA<*AC9?2ASֽ:A };BAC9?JASֽRA };YT@/yP/Ҽ=$<ٓHe@U@?@?\;ٿ #g@Ƒ? -E?` #? ?)T@ I٘i)I9|@YG JP<J>JJJ1 F&Kv>  9Y2W~? 9yZSA/F77779)_B[[E]l@[)X~?[Z[[[[ZZZZBZYY iC) Aֽ:A <BA39?JA>ֽRA <٘i)I9}@Y G Jܒ<JJJJ2 F&K Y0W~?y}SAF{79)[BWE[[s<)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039885.623165 s, next control iter: 1743039886.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13384 , header.stamp.nsec: 0 0 temperature: 13.384569 * salinity: 33.391651 , density: 1025.000000 * values[0]: 0.708417 F (some fields omitted in printout)F+W~?)F rAdjusting time to match Gazebo time: 1743039886.023165 s.ZJ~,|c+AJ"J*J2J:JZ5?BJZ5?nJ*>5vJAHz.$@AH!$@AMY~? AA֙!&"AAmNA"AZAbAjArAzAAAKL;@A~}srAU}@AΩ;Aw<AN5+A >A`ͿA;*A٨9?2Adֽ:A<BA٨9?JAdֽRA<٘i)I9}@Y_G J;JJJJ5 F&K Y*W~?ySAFŧ77N9)VBRE[[p@[W~?[[[[[ZZZZBZYY i) ^ݿ))ݿˑ@y;\5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039886.463165 s, next control iter: 1743039886.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13385, header.stamp.nsec: 00 temperature: 13.384492* salinity: 33.391628, density: 1025.000000* values[0]: 0.708921F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039886.863165 s.+J~,>c+AJ"J*J2J:J{5?BJ{5?nJL>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743039886.863290F (some fields omitted in printout)A$@A F$@AUtY~? A"A1!&"AA(vmNA"AZAbAjArAzAAAi8Z@A_2?%@?b?`)N (T޿`D)&ҟ祿?)Z@ I٘i)I9}@Y JHJ&>JJJ8 F&KwX> Y?TW~?ySAo)F777 9)[[r@[W~?[%[[[[BZYY ihi) !95vJAQ%@A$@ACY~? A(A- &"AAe,mNA"AZAbAjArAzAAAZ@AGzrA}e}@AԻAw=A7'AA6ҿAk1*AEg:?2Av.ɽ:A=BAEg:?JAv.ɽRA=٘i)I9e}@Y:G JJJJJ: F&K Yp"W~?y6SAF77y 9BB)WBIE[[<u@[W~?[@/[[[[BZYY i) 8iRAF{7j7D9)ZBFE[[:v@[+W~?[ 4[[[[BZYY i) 5vJA= ףp%@A}ԛc%@AY~? A.AD &"AAlNA"AZAbAjArAzAAA(b/@A&u~rAX|@AA<A@=A$AcA`ZӿAX*A^:?2Aͽ:A=BA^:?JAͽRA=٘i)I9|@YG J׀B=JJJJ= F&K YV~?ynRAF{79)]B[[nw@[9zW~?[8[[[[BZYY i)  a;IF?i@}< ;п));пLٔ@yvǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039888.563165 s, next control iter: 1743039888.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13387, header.stamp.nsec: 00 temperature: 13.384644* salinity: 33.391624, density: 1025.000000* values[0]: 0.708488F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039888.963165 s.J~,=d+AAffff%@Ahv[%@AvX~? Ao2A$ &"AAlNA"AZAbAjArAzAAAWצ@AfrA%|@Ae<Aێ=Av#A@U3AquԿA@$*AZ:?2AϽ:A-=BAZ:?JAϽRA-=Yy`@e#y=e<ٓH M?M]๡@첿`??)y`@ I٘i)I9%|@YwG J̕C=J+=JJJ> F&Kf> Y%V~?yQ [RAe#Fj79)aBCE[[6x@[ohW~?[=[[[[BZYY i) ";I9F?i @ < mο))mοt@?ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039888.983165 s, next control iter: 1743039889.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039889.383165 s.J~,/Xd+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066298< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743039889.383290F (some fields omitted in printout)J"J*J2J:JBJnJvJA(%@Ap%@AX~? A6A&"AAlNA"AZAbAjArAzAAA/@A;rA5{@A4<A=A"A AIտA*AV:?2Aѽ:Ac=BAV:?JAѽRAc=٘i)I9{@Y#G JzJJJJ@ F&K YV~?y4QAFb779)eBAE[[y@[ WW~?[B[[[[BZYY i) ͮ;IF?iI$@I< w̿))w̿@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039889.423165 s, next control iter: 1743039889.783175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13388", header.stamp.nsec: 0"0 temperature: 13.384874"* salinity: 33.391609", density: 1025.000000"* values[0]: 0.707635"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039889.803165 s.yAJ~,gsd+AA&@Ae&@AX~? A9Afw&"AAxlNA"AZAbAjArAzAAAqG-@AFrA {@A;\Aʝ=A@ A`A ֿA{*AXS:?2AZnӽ:AJ=BAXS:?JAZnӽRAJ=٘i)I9 {@YG JJJJJA F&K Y,V~?yQAF77o9AB)iB>E[[ {@[FW~?[ H[[[[BZYY i) ̓;IG?i1(@I< ɿ))ɿa@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039889.843165 s, next control iter: 1743039890.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039890.223165 s.g#J~,Hd+AJ"J*J2J:JBJnJvJAzG&@ASͬ:&@AX~? A=AG-&"AAUlNA"AZAbAjArAzAAA}on\@AbdrAzz@Av%Aƞ=A|\AˌAxֿA/o*A[P:?2A6Խ:A =BA[P:?JA6ԽRA =٘i)I9zz@YsG J׭JJJJB F&K YV~?y)QAF)7ŧ799)mB[[U=|@[5W~?[TM[[[[BZYY i) yd;I;G?i},@< <ǿ))<ǿ@@iڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039890.243165 s, next control iter: 1743039890.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039890.643165 s.r)J~,)d+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066298< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743039890.643274F (some fields omitted in printout)A ףp}&@A/Iep&@A[X~? AAAV&"AA@3lNA"AZAbAjArAzAAA/BZ7 @A.X؉rAWy@A1fAў=A8AOA ׿A:I*AM:?2A_ս:A1 =BAM:?JA_սRA1 =٘i)I9y@YG JJJJJD F&K Y5{V~?y PAF{7j79)qB;E[[_k}@[x%W~?[R[[[[BZYY i) ';IaG?i-1@< Ŀ))Ŀח@ڪYtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13389, header.stamp.nsec: 00 temperature: 13.385111* salinity: 33.391594, density: 1025.000000* values[0]: 0.706605F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743039890.663165 s, next control iter: 1743039891.043175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039891.063165 s.0J~,_ d+AJ"J*J2J:J4?BJ4?nJ=5vJA3333&@A)&@AX~? AEA&"AAlNA"AZAbAjArAzAAA} @AߔubrARy@AO-A=A;AAœؿA)*AK:?2AUս:A`=BAK:?JAUսRA`=YUg@y= YweV~?y{&ZPAFŧ7b79@B)uB8E[[1~@[W~?[X[[[[BZYY i) :IG?i4@|< }¿))}¿p@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039891.103165 s, next control iter: 1743039891.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039891.483165 s.}_7J~,d+AA\&@A˄_&@AsX~? AJA#>&"AA`kNA"AZAbAjArAzAAA\-R @AfRrACx@AvYԺA=AoA`\AiٿA]w*AI:?2Aֽ:A+=BAI:?JAֽRA+=٘i)I9x@YbG JԴC=JJJJF F&K YOV~?y,OAFb779?B)zB5E[[@[W~?[y][[[[BZYY i) @:IG?iZ7@K< G))G@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039891.503165 s, next control iter: 1743039891.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13390, header.stamp.nsec: 00 temperature: 13.385386* salinity: 33.391582, density: 1025.000000* values[0]: 0.705559F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039891.903165 s.=J~,d+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066298< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743039891.903308F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ'@AnP'@A ^X~? ANA&"AAkNA"AZAbAjArAzAAA! @AIѓrA x@A+b<Ax=A+A`ȍAB4ڿAf*A~H:?2Aֽ:AJ=BA~H:?JAֽRAJ=٘i)I9 x@YG JJJJJH F&K Y:V~?y1OAF777d9@B)B6E[[}@[V~?[c[[[[BZYY i) l ;IGG?i;@wf< ))@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039891.923165 s, next control iter: 1743039892.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039892.323165 s.xDJ~,-e+AAGzT'@AOoG'@AHX~? ASA(&"AA1kNA"AZAbAjArAzAAA@S@A߈rATw@A$8`<A>ȗ=AAHA`ڿA*A?G:?2AADֽ:A[=BA?G:?JAADֽRA[=٘i)I9w@YG J8JJJJI F&K YF$V~?yU7OAF77/!9?B)B3E[[@[ V~?[h[[[[BZYY i)  I`H?i?@< h))h5@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039892.343165 s, next control iter: 1743039892.723179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13391*, header.stamp.nsec: 0*0 temperature: 13.385648** salinity: 33.391575*, density: 1025.000000** values[0]: 0.704462*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039892.743165 s.WKJ~,y/e+AJ"J*J2J:JW4?BJW4?nJ=5vJAףp='@A]P2}'@AI3X~? AWA6&"AAƌkNA"AZAbAjArAzAAAYVi@AearA&v@AC<A7”=AAAۿAݱ*AF:?2Aֽ:A=BAF:?JAֽRA=٘i)I9v@YIG J$JJJJJ F&K YV~?y<NAF77{7"9)B0E[[@[V~?[4n[[[[BZYY i) pIn+H?iC@uL< ))ʚ@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039892.763165 s, next control iter: 1743039893.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039893.163165 s.x}RJ~,qJe+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066298< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743039893.163303F (some fields omitted in printout)A'@A/'@A`X~? A\A&"AAlkNA"AZAbAjArAzAAAQ\vs@AֶUrAZv@A) ;A=A@5A`A ܿAឩ*AD:?2A׽:AL=BAD:?JA׽RAL=Ym@0y=;ٓH`Z?몿m@kF3o?@5?)m@ I٘i)I9Zv@YG J|JkJJJL F&Kwz> YU~?yB)B,E[[hՂ@[V~?[y[[[[BZYY i) "}IUH?iDI@= a))ac@ ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039893.623165 s, next control iter: 1743039893.983178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13392 , header.stamp.nsec: 0 0 temperature: 13.385903 * salinity: 33.391582 , density: 1025.000000 * values[0]: 0.703423 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039894.003165 s.~ `J~,e4e+AAR+(@Atx(@AW~? AfA&"AAd.kNA"AZAbAjArAzAAA^?A+=|rA@Ku@AVAČ=AA@A޿A陵*AJA:?2A׽:A<BAJA:?JA׽RA<٘i)I9Ku@YKG J]JJJJN F&K Y3U~?yOMAF77Y(9/B)B[[j@[̰V~?[[[[[BZYY i) CI[H?iL@= o ))o @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039894.043165 s, next control iter: 1743039894.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039894.423165 s.ufJ~,e+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: -0.066298< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743039894.423281F (some fields omitted in printout)A{Ga(@A=>T(@AW~? AkADz&"AAkNA"AZAbAjArAzAAAMnQJ?A-_򵭣rAt@AVA=A5AAj޿A*A9?:?2A@׽:Aw<BA9?:?JA@׽RAw<٘i)I9t@YG JB=JJJJP F&K YjU~?yV*MAF77$*90B)B*E[[@[V~?[[[[[BZYY iv ) !I;H?iP@v= o))o @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039894.463165 s, next control iter: 1743039894.823177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13393, header.stamp.nsec: 00 temperature: 13.386136* salinity: 33.391563, density: 1025.000000* values[0]: 0.702466F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039894.843165 s.lJ~,e+AAp= (@A(@AW~? ARqAK&"AAjNA"AZAbAjArAzAAA`?A,,rA@Nt@AS˻AD=A_A{A@K߿A*A =:?2AK׽:A<BA =:?JAK׽RA<٘i)I9Nt@YG JC=JJJJQ F&K YU~?y`\LAF7+9/B)B'E[[@[V~?[y[[[[BZYY i) OڻII?iT@'= o))o볝@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039894.883165 s, next control iter: 1743039895.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039895.263165 s.J "J *J 2J tJ~:J3?BJ3?,0e+AnJr<5vJA(@A1~¿(@AݺW~? AvA&"AAjNA"AZAbAjArAzAAA"?A3JrAQs@A;Aˆ=A'A@(A3A*A6:?2ACֽ:A<BA6:?JACֽRA YU~?yBclLAF77{7-9)B[[&@[TV~?[[[[[BZYY i) II?i*W@ = ))H@WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039895.303165 s, next control iter: 1743039895.663179 s, wait time: 0.360014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13394., header.stamp.nsec: 0.0 temperature: 13.386356.* salinity: 33.391537., density: 1025.000000.* values[0]: 0.701610.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039895.683165 s.lzJ~,|e+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075219< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743039895.683292F (some fields omitted in printout)A(\)@AKs+(@AW~? Ad|Au&"AAjNA"AZAbAjArAzAAA[?ArATs@A;D<AÈ=AeAVAqAQ*A0:?2Aֽ:A =BA0:?JAֽRA =٘i)I9Ts@YG JJJJJT F&K YbU~?y$jLAFŧ77/9)B$E[[˺@[V~?[[[[[BZYY i) Zo IiY@ = S̨))S̨ܞ@yOYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039895.683165 s, next control iter: 1743039896.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743039896.103165 s.J~,f+AJ"J*J2J:JBJnJvJAQ8)@A4F+)@AW~? AA&"AAsjNA"AZAbAjArAzAAAVނF?A{1rAr@A6a<A8C=A A`}AA*A*:?2A7ֽ:A=BA*:?JA7ֽRA=٘i)I9r@YG JpJJJJU F&K YvU~?yqKAF777O190B)B%E[[%N@[&tV~?[ŝ[[[[BZYY i) }Ii,]@ = ~))~ p@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039896.143165 s, next control iter: 1743039896.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039896.523165 s.J~,{!f+AAHzn)@A9 a)@AtW~? AA&"AAjNA"AZAbAjArAzAAA~?AK,gLrA\r@A <A 3=AR Ax$A Aua*A.%:?2A׽:A=BA.%:?JA׽RA=٘i)I9\r@YG JΒJJJJW F&K Y!eU~?ywYKAFŧ7b739/B)B"E[[@[/iV~?[[[[[BZYY i) +Ii`@= 4))4@;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039896.563165 s, next control iter: 1743039896.923177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13395, header.stamp.nsec: 00 temperature: 13.386575* salinity: 33.391537, density: 1025.000000* values[0]: 0.700745F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039896.943165 s.]dJ~,W]Wf+AA)@A9)@Ar`W~? A퓩A"&"AAJjNA"AZAbAjArAzAAAXzzAXsrAlq@A+Aւ=A A.޿A@A Œ*A:?2A׽:A=BA:?JA׽RA=Y(z@m y׀= H,ٓHE`:?@?1 K`Q@{?)(z@ I٘i)I9lq@YG JJB=J;JJJY F&Kx> Y7DU~?y3JA F7769)BE[[F@[ZTV~?[l[[[[BZYY i) LyJIif@G= g))gA'@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039897.383165 s, next control iter: 1743039897.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13396&, header.stamp.nsec: 0&0 temperature: 13.386797&* salinity: 33.391533&, density: 1025.000000&* values[0]: 0.699904&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039897.783165 s.]J~,rf+AJ"J*J2J:JBJnJvJA(\*@AT*@AOW~? AA7&"AA0jNA"AZAbAjArAzAAAտAiտrAUp@AGdAȏ=AA`޿A ~A*A:?2At׽:A=BA:?JAt׽RA=٘i)I9p@YG J;C=JJJJ[ F&K Y4U~?y?JAF77z89)B[[@[yJV~?[[[[[BZYY i) YIigi@a=  Y)) Y@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039897.803165 s, next control iter: 1743039898.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039898.203165 s.J~,f+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075219< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743039898.203319F (some fields omitted in printout)AQE*@AIv8*@A?W~? A[A&"AAjNA"AZAbAjArAzAAAnQArA|p@A)F$AO3=A?wA \[ݿAb_Aۓ*A{:?2Aa׽:A0m=BA{:?JAa׽RA0m=٘i)I9|p@Y^G JJJJJ\ F&K Y%U~?yIAFb77D:9)BE[[K)@[AV~?[[[[[BZYY i߁) JiIiSl@?= S))SFK@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039898.223165 s, next control iter: 1743039898.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039898.623165 s.XJ~,af+AJ"J*J2J:J2?BJ2?nJ;5vJAGz*@Am*@A.W~? AAkC&"AAiNA"AZAbAjArAzAAAR? A`DrA o@AXA|=A\4A`3ܿAAm*A :?2A׽:A =BA :?JA׽RA =٘i)I9o@YG J JJJJ] F&K Y`U~?ykIAF77<9)B[[=@[7V~?[|è[[[[BZYY i) ճxIio@\= Θ))Θ8ܢ@B̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039898.643165 s, next control iter: 1743039899.023175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13397 , header.stamp.nsec: 0 0 temperature: 13.386981 * salinity: 33.391521 , density: 1025.000000 * values[0]: 0.699097 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039899.043165 s.J~,f+AA= ף*@Ao*@AYW~? A1A2&"AAiNA"AZAbAjArAzAAAs=}u Ahev~rAyo@A<Aܖ=AAdۿAA*A:?2A5ֽ:A=BA:?JA5ֽRA=٘i)I9yo@YG JJJJJ_ F&K YU~?yң"IA F)7ŧ7=9)BE[[YJ@[J/V~?[ɨ[[[[BZYY i) IiLs@d= ))Tl@nϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039899.083165 s, next control iter: 1743039899.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039899.463165 s.UJ~,f+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743039899.463269F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff*@A^I\*@AW~? AAG&"AAiNA"AZAbAjArAzAAAhgA#rrAn@Ac<A=A=A` ۿA7AZȥ*A9?2Aֽ:Ae=BA9?JAֽRAe=٘i)I9n@YlG J䢼JJJJ` F&K YT~?y;HA F7777?9)B[[ي@[ 'V~?[CШ[[[[BZYY i) ËIiXw@M= ;Q));Q@yf$ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039899.483165 s, next control iter: 1743039899.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13398, header.stamp.nsec: 00 temperature: 13.387214* salinity: 33.391514, density: 1025.000000* values[0]: 0.698218F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039899.883165 s.yJ~,8f+AA(+@Ae2+@ATW~? AhA&"AAͷiNA"AZAbAjArAzAAAᤚa5AU4 rAhdn@A><A^=AHYA`4GڿA|A*AL9?2Adֽ:A=BAL9?JAdֽRA=٘i)I9dn@YG J2JJJJa F&K YT~?ydHA F7oA9)BE[[g@[:V~?[֨[[[[BZYY i) wIi{@O!= ))@֪YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743039899.903165 s, next control iter: 1743039900.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039900.303165 s.RJ~,fgg+AJ"J*J2J:JBJnJvJAQ+@AJ?D+@AV~? A(APC&"AAiNA"AZAbAjArAzAAAiA'uzrAGm@A Y;A]@=AA`wٿAgAp*A9?2A׽:A$=BA9?JA׽RA$=٘i)I9m@YG J)JJJJc F&K Y>T~?y HA Fb77:C9)B[[@[V~?[ ݨ[[[[BZYY i) -IiC@j-$= ㏿))㏿@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039900.323165 s, next control iter: 1743039900.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13399., header.stamp.nsec: 0.0 temperature: 13.387452.* salinity: 33.391491., density: 1025.000000.* values[0]: 0.697239.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039900.723165 s. J~,I.g+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743039900.723294F (some fields omitted in printout)Az+@Anz+@AV~? AǩA&"AADiNA"AZAbAjArAzAAAvxAJ*rAXGm@AaۻAI=AJAؿA@Aƪ*A9?2Ak׽:A=BA9?JAk׽RA=٘i)I9Gm@YiG J%JJJJFJd F&K YT~?ysGA Fj7Z7E9.B)įBE[[ۀ@[V~?[h[[[[BZYY i) R⢼IiԂ@v'= ))֢@ ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039900.743165 s, next control iter: 1743039901.123178 s, wait time: 0.380013 sT~?)s rAdjusting time to match Gazebo time: 1743039901.143165 s.W/J~, *Ig+AJ"J*J2J:JBJnJvJA ףp+@A i+@AV~? AΩAr8&"AAwiNA"AZAbAjArAzAAAa<ATrAܶl@AWAGv=AA@}׿A 5AA譼*AD9?2AW׽:A=BAD9?JAW׽RA=٘i)I9l@YG JJJJJe F&K YT~?yȨGGA FZ7F9)ɯB[[ @[6 V~?[[[[[BZYY i) $Ii@*= ))-@\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039901.163165 s, next control iter: 1743039901.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039901.563165 s.J~,J dg+AA3333+@AM(+@AV~? AթA~&"AA~ciNA"AZAbAjArAzAAAC {A-A"l@A^OA䟨=AAֿA}A,*A9?2A=^׽:A~=BA9?JA=^׽RA~=YE@&yj=!sPٓH#ֿd?`" ֿSд`u ?)E@ I٘i)I9"l@YG JJ=JJJg F&K> YT~?yѨFA& F77H90B)ϯBE[[6@[V~?[R[[[[BZYY i) JIiW@+= N))N1@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039901.583165 s, next control iter: 1743039901.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13400, header.stamp.nsec: 00 temperature: 13.387684* salinity: 33.391472, density: 1025.000000* values[0]: 0.696250F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039901.983165 s.J~,~g+AJ"J*J2J:J=2?BJ=2?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743039901.983290F (some fields omitted in printout)A\(,@Ah,@A)V~? AݩA&&"AA'PiNA"AZAbAjArAzAAAUwAv#@rAk@AA=AS|A z#ֿA(A*AV9?2Aֽ:Ae=BAV9?JAֽRAe=٘i)I9k@YYG JJJJJh F&K YaT~?yF٨dFA F7eJ9/B)ӯBE[[k(@[U~?[[[[[BZYY i) EIiK@--= ))fJ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039902.003165 s, next control iter: 1743039902.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039902.403165 s.&J~,͙g+AAQ^,@AHGQ,@AV~? A,A&"AA=iNA"AZAbAjArAzAAAXޛAXjwrAj@A# ;A=A@A{LտA?A_Ƽ*A%9?2A|ֽ:A=BA%9?JA|ֽRA=٘i)I9j@YG JKJJJJi F&K Y;T~?y{EA F77/L9)دB[[%@[U~?[|[[[[BZYY i) SIio@.= ބ))ބ ا@&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039902.423165 s, next control iter: 1743039902.803179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13401", header.stamp.nsec: 0"0 temperature: 13.387932"* salinity: 33.391479", density: 1025.000000"* values[0]: 0.695213"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039902.823165 s.J~,)g+AJ"J*J2J:JBJnJvJAGz,@A ˟o,@AV~? AhAl&"AA+iNA"AZAbAjArAzAAAO篷A yrA;j@A#,I<A=AvwA-sԿAT#A.1μ*A}9?2ASֽ:A=BA}9?JASֽRA=٘i)I9;j@YG J5ʼJJJJk F&K YT~?yEA F7M9)ݯB[[OC@[U~?[[[[[BZYY i) ǼIi‰@T0= C))CJe@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039902.843165 s, next control iter: 1743039903.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039903.243165 s.J~,yg+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743039903.243294F (some fields omitted in printout)Aףp=,@A|a2,@AnV~? AA&"AAYiNA"AZAbAjArAzAAA~, ArAÌi@A]<A68=A#A:ӿA`VAJWҼ*AM9?2Abֽ:A=BAM9?JAbֽRA=٘i)I9i@Y$G JsмJJJJl F&K YT~?yEA Fb77O90B)BE[[Ϗ@[U~?[ [[[[BZYY i) MϼIiC@KB2= 'x))'x@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039903.283165 s, next control iter: 1743039903.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039903.663165 s.J~,qg+AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13402, header.stamp.nsec: 00 temperature: 13.388235* salinity: 33.391445, density: 1025.000000* values[0]: 0.694017F (some fields omitted in printout)A-@AO,@AΐV~? AAE&"AA iNA"AZAbAjArAzAAA_GAqnrAh@At;A8=AS2AҿA AҼ*Au9?2A3ֽ:A'=BAu9?JA3ֽRA'=YE@Ny=;ٓH@п1?@ п);ڑ?@?)E@ I٘i)I9h@Y G JҼJ4<JJJm F&KZx> YT~?ycDA F{7{7Q9)B[[<]@[nU~?[P[[[[BZYY i) ּIiދ@ 3= |))|7@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039903.683165 s, next control iter: 1743039904.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039904.083165 s.DJ~, Sh+AA)\5-@A닄(-@AV~? AAa&"AAhNA"AZAbAjArAzAAAiA/rA*h@AN Axβ=AzAGѿATAe`Ѽ*Aػ9?2A׽:A,=BAػ9?JA׽RA,=٘i)I9*h@YM G J|ҼJJJJo F&K YyT~?y"DA F77ZS9)B[[P@[EU~?[[[[[ZZ¸BZYY i¸۝=) xʼIi@$ 4= }x))}xK @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039904.123165 s, next control iter: 1743039904.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039904.503165 s.J~,74 h+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084285< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743039904.503258F (some fields omitted in printout)J"J*J2J:JBJnJvJARk-@Ay^-@A }V~? A A&"AAhNA"AZAbAjArAzAAAl`OA[osA@{g@AmW2A=AUA^пAA=м*Ad9?2AIV׽:A=BAd9?JAIV׽RA=٘i)I9{g@Y G JмJJJJp F&K YqT~?y[ CA F{7{7%U9)B[[v@[|U~?[[[[[ZZBZYY i) Ii@mH5= s))s@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039904.523165 s, next control iter: 1743039904.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13403, header.stamp.nsec: 00 temperature: 13.388508* salinity: 33.391472, density: 1025.000000* values[0]: 0.692786F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039904.923165 s.3J~,;h+AA{G-@A$?-@AsV~? AA<&"AAhNA"AZAbAjArAzAAAk鯑AO*sAf@AecA=A!A`пA A\*A9?2AN׽:A<BA9?JAN׽RA<٘i)I9f@Yl G J B=JJJJq F&K YFjT~?y3CA F7ŧ7V91B)BE[[A@[U~?[N%[[[[ZZBZYY i) 3IiȎ@6= To))To<%@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039904.963165 s, next control iter: 1743039905.323176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039905.343165 s.<J~,Uh+AJ"J*J2J:J21?BJ21?nJ95vJAp= -@Aŧ-@AFkV~? A3AӨ&"AAZhNA"AZAbAjArAzAAA:QA®* sAie@AyA=AA@5οA5A7*A29?2A׽:A<BA29?JA׽RA<٘i)I9e@Y G JBC=JJJJs F&K YbT~?yTBA F77X9)B[[ߎ@[ U~?[+[[[[ZZBZYY i) ށIi@bx8= j))jڰ@y=ЪYFF!^Clearing failed state for component CTD_Seabird1F]:Waiting for Gazebo time sync: latest Gz time: 1743039905.363165 s, next control iter: 1743039905.743179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13404&, header.stamp.nsec: 0&0 temperature: 13.388825&* salinity: 33.391449&, density: 1025.000000&* values[0]: 0.691448&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039905.763165 s.8J~,#ph+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084285< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743039905.763298F (some fields omitted in printout)A .@AJ@L-@A$cV~? AA&"AAhNA"AZAbAjArAzAAANW' A}sAe@AAAlp=A ޿APf̿A ZAYw*Ao9?2Aeֽ:A>_<BAo9?JAeֽRA>_ Y?^T~?y%jBA ޿ F77Z9)B[[@[^U~?[2[[[[ZZBZYY i) GIi@D9= -f))-f=@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743039905.783165 s, next control iter: 1743039906.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039906.183165 s."J~,sh+AJ"J*J2J:JBJnJvJA(\B.@AZ5.@A[V~? A'A} &"AAhNA"AZAbAjArAzAAA + Aǂ6@3sA Ud@A <AG.,=A_|ۿA@ʿAJATм*Ah9?2A:ֽ:A:;BAh9?JA:ֽRA:;٘i)I9Ud@Y G JJJJJu F&K YYT~?y-BA F{7{7O\9)B[[@[U~?[d9[[[[ZZBZYY i) Ii)@`9= .b)).b ʬ@rYFF]:Waiting for Gazebo time sync: latest Gz time: 1743039906.203165 s, next control iter: 1743039906.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039906.603165 s.54)J~,h+AAQx.@A$]Jk.@AdTV~? AW/A &"AAmhNA"AZAbAjArAzAAA<| A!+'sAc@AP<AfM<ArؿAȿA`A!N*A9?2Aֽ:AغBA9?JAֽRAغ٘i)I9c@Y G J+¼B=JJJJw F&K YUT~?yi6AA F77^93B)BE[[I4@[ U~?[@[[[[ZZBZYY i) ՄIi@:= ]))]DV@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743039906.623165 s, next control iter: 1743039907.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13405 , header.stamp.nsec: 0 0 temperature: 13.389142 * salinity: 33.391422 , density: 1025.000000 * values[0]: 0.690016 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039907.023165 s.Z0J~,|h+AJ"J*J2J:J0?BJ0?!AnJ995!A vJ!E!E !I!M!Q!Q !U!U !Y!Y IIEC"I G*Ic@6I=>I"DFItD"hFailure count cleared after critical for CTD_SeabirdvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084285< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743039907.023296F (some fields omitted in printout)AHz.@A7N .@AMV~? A%7AN &"AAhNA"AZAbAjArAzAAA;~M AtsA>0c@A$<AԿ;AGֿAƿA uAڀ*AD9?2A ֽ:AvBAD9?JA ֽRAv٘i)I90c@YE G J\C=JJJJx F&K YiPT~?y?xAA F{7{7_9)B[[ @[U~?[F[[[[ZZBZYY i) 29sIi@<= nY))nY@DYFF]:Waiting for Gazebo time sync: latest Gz time: 1743039907.063165 s, next control iter: 1743039907.423185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743039907.443165 s.16J~,%]h+AAq= .@Af.@AGV~? A>A &"AAOhNA"AZAbAjArAzAAAgR AS~$sAb@At:A AӿAſAA#'*AZ9?2AVֽ:AkkBAZ9?JAVֽRAkk٘i)I9b@Y G J\JJJJy F&K YKT~?yG'AA F7777a9+B)B E[[ZK@[_U~?[M[[[[ZZBZYY i) \Ii@đ== -U))-UUm@$)YFF]:Waiting for Gazebo time sync: latest Gz time: 1743039907.463165 s, next control iter: 1743039907.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13406, header.stamp.nsec: 00 temperature: 13.389373* salinity: 33.391426, density: 1025.000000* values[0]: 0.689056F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039907.863165 s.+=J~,>h+AJ"J*J2J:Je0?BJe0?nJ85vJZJV@JJV@bJa@RJa@A/@A0- /@ABV~? AFA  &"AAhhNA"AZAbAjArAzAAAA8 A26{N)sAb@A#Ad㼼AѿA6ÿAAО*AX9?2ApSֽ:AxBAX9?JApSֽRAxYǍ@ѿyἼm4ٓHK ??@??L?)Ǎ@ I٘i)I9b@Y G J&B=JAGJJJ{ F&Kv> YJT~?yPGAAѿ Fb77zc9)BE[[ו@[U~?[?T[[[[BZYY iGs=) JIi\@{== P))P@ |)YFF] : Waiting for Gazebo time sync: latest Gz time: 1743039907.903165 s, next control iter: 1743039908.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039908.283165 s.6RDJ~,i+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.059395< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199492 time: 1743039908.283279F (some fields omitted in printout)A(\O/@A/QB/@A=V~? ANAׁ &"AAHhNA"AZAbAjArAzAAAJ A+#.sA{b@Ai\AA}οA`ZA`AK8*AW9?2A-ֽ:AL0BAW9?JA-ֽRAL0Ἑ٘i)I9b@Y G J/C=JJJJ| F&K Y@HT~?yjYgAA Fj7j7Ee9)B[[mc@[U~?[Z[[[[BZYY ikΏ=) 8IiΔ@Fy>= SL))SLh@/E*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743039908.303165 s, next control iter: 1743039908.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13407., header.stamp.nsec: 0.0 temperature: 13.572984.* salinity: 33.374996., density: 1025.000000.* values[0]: 0.567435.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039908.703165 s.ҺJJ~,-i+AJ"J*J2J:JBJnJvJ@@@@AQ/@AWx/@Ap8V~? AVA &"AA~hNA"AZAbAjArAzAAAՁT" Ar2sAHb@AzIA5@A˿A A H&A ;*A=9?2A@ֽ:ABA=9?JA@ֽRA٘i)I9b@Y G J;B=JJJJ~ F&K YyFT~?y:bAA Fb77g9)B[[ȿ[U~?[a[[[[BZYY i) &Iio@KG?= 7G))7G7G)*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743039908.723165 s, next control iter: 1743039909.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743039909.123165 s.:QJ~,iGi+AAG/@Aխ/@Af4V~? A^ArK &"AAdxhNA"AZAbAjArAzAAA|ۦ A=7sAb@AA'cA~KɿA%A P9A <*A&9?2A7ֽ:ABA&9?JA7ֽRA٘i)I9b@Y G J/;C=JJJJ F&K YDT~?ykAA! F{7{7h9)B[[-Uƿ[EU~?[fh[[[[BZYY i) Ii?@P@= C))CCy=c*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743039909.163165 s, next control iter: 1743039909.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039909.543165 s.IXJ~,bi+AJ"J*J2J:JE?BJE?nJS5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.070218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743039909.543298F (some fields omitted in printout)A= ף/@A4/@A0V~? AfAu&"AArhNA"AZAbAjArAzAAAW, AJξ YDT~?y|$BA Ŀ$ Fŧ7ŧ7pl9)B[[)[U~?[u[[[[BZYY il=) 'IiR@`A= w:))w:w:*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743039910.003165 s, next control iter: 1743039910.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039910.383165 s.eJ~,#i+AJ"J*J2J:JT?BJT?nJc5vJA(\0@AN O0@Aw+V~? AvA=v&"AAihNA"AZAbAjArAzAAAUM]AWFsABc@AvO<AJAUA%WA@ cAx<*A69?2A ֽ:AbhBA69?JA ֽRAbh٘i)I9c@Y G Jy<JJJJ F&K Y#ET~?yqBA% FZ7SI7:n9) B[[Ͽ[HU~?[t|[[[[BZYY i) DBȻIi@B= Ï6))Ï6Ï6*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743039910.423165 s, next control iter: 1743039910.783175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13409&, header.stamp.nsec: 0&0 temperature: 13.572813&* salinity: 33.374985&, density: 1025.000000&* values[0]: 0.567918&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039910.803165 s.}AlJ~,gi+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057749< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198452 time: 1743039910.803298F (some fields omitted in printout)A0@AA(0@A)V~? A~A%&"AA5fhNA"AZAbAjArAzAAAoBACvKsA6Id@A;A3ʛA3ʾA`ŧAlA <*AЫ9?2Aֽ:A?WBAЫ9?JAֽRA?WI٘i)I9Id@Y G JU<B=JJJJ F&K Y>FT~?y>BA& F77j7p9) B[[ǣ[U~?[[[[[BZYY i) VIi@EB= 72))7272*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743039910.823165 s, next control iter: 1743039911.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039911.223165 s.gsJ~,Hi+AJ"J*J2J:JBJnJvJAz0@AD/0@A%(V~? A憪A;&"AAchNA"AZAbAjArAzAAA9ZɭA!0rbPsAd@A4>HAAGA<ArA<*Aβ9?2AdWֽ:ABAβ9?JAdWֽRA٘i)I9d@YE G J<C=JJJJ F&K YYGT~?y >CA( Fb77q9)BE[[ y[U~?[‰[[[[BZYY i) pIi@gC= ?-))?-?-yl=t*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743039911.243165 s, next control iter: 1743039911.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039911.643165 s.wyJ~, *i+AA ףp0@A;Ug0@AE'V~? AAK&"AAahNA"AZAbAjArAzAAA[U>A6eOUsAle@A5AAA`^AwAԹ<*A}9?2A#ֽ:ABA}9?JA#ֽRA٘i)I9le@Y G Jʴ<JJJJ F&K YtHT~?y؟CA) F777s9)B[[GO[U~?[`[[[[BZYY i<=)  WIix@qD= )))))b*YFF]:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13410, header.stamp.nsec: 00 temperature: 13.572588* salinity: 33.375004, density: 1025.000000* values[0]: 0.568509F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743039911.663165 s, next control iter: 1743039912.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039912.063165 s.J~J"J,| j+A*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200522 time: 1743039912.063333F (some fields omitted in printout)A333331@A=|(&1@A&V~? A A&"AA`hNA"AZAbAjArAzAAA FA@=ZsAJ f@AYA흽A+AMJaA@CyAy<*AQ9?2A2ֽ:AXS BAQ9?JA2ֽRAXS YLJ@ y Ᵹ8ZٓH?@c?zc?Ӗ ?W???@2`?)LJ@ I٘i)I9 f@Y G J}<JJJJ F&Kw> YjLT~?yDA * Fŧ7b7eu9)B[[$[XU~?[[[[[BZYY i) &Ii^@|PD= 9%))9%9%D*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743039912.103165 s, next control iter: 1743039912.463183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743039912.483165 s.z_J~,j+AA\h1@A.[1@A'V~? AAb&"AA`hNA"AZAbAjArAzAAA<_;A2+_sAf@A A AAW?AxAC<*A9?2A#}ֽ:A|BA9?JA#}ֽRA|٘i)I9f@Yb G Jٻ<JJJJ F&K Y`PT~?yEpDA, F7770w9,B)BE[[G[U~?[[[[[BZYY i) ԍIis@TkD=  ))  *YFF]:Waiting for Gazebo time sync: latest Gz time: 1743039912.503165 s, next control iter: 1743039912.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13411, header.stamp.nsec: 00 temperature: 13.572290* salinity: 33.374985, density: 1025.000000* values[0]: 0.569204F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039912.903165 s.ȍJ~,9j+AJ"J*J2J:JBJnJvJAQ1@A(1@A'V~? A1AB&"AAdahNA"AZAbAjArAzAAA͐A6|dsATAg@A=T:A4A5ѱA ⛜?AuA2Ұ<*Ai9?2Aֽ:A0SBAi9?JAֽRA0S٘i)I9Ag@Y G JH<JJJJ F&K YVTT~?yDA- F7x9)B[[в[U~?[([[[[BZYY i)  Ii@D= 3))33*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743039912.923165 s, next control iter: 1743039913.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039913.323165 s.~J~,GTj+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743039913.323290F (some fields omitted in printout)AGz1@AfJo1@A )V~? ACA'&"AAbhNA"AZAbAjArAzAAAgO˗AIisAg@A<A iA A .?A@>pA)<*Ab9?2AE׽:A=NBAb9?JAE׽RA=N٘i)I9g@Y G Jh<JJJJ F&K YMXT~?y©DEA. FZ7SI7z9)B[[Y[U~?[[[[[BZYY i) P9Ii)@;SE= <))<<y=*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743039913.343165 s, next control iter: 1743039913.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13412*, header.stamp.nsec: 0*0 temperature: 13.572002** salinity: 33.374977*, density: 1025.000000** values[0]: 0.569938*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039913.743165 s.WJ~,moj+AJ"J*J2J:J?BJ?nJ5vJAףp= 2@A&L11@A*V~? ARA+&"AAehNA"AZAbAjArAzAAAm*lAmsA^h@A,]<A꒽A|A൷?AhAۇ<*A9?2A&׽:ABA9?JA&׽RA٘i)I9^h@Yl G Jl<JJJJ F&K YC\T~?yj˩EA0 Fb77|9)B[[}[U~?[9[[[[BZYY i) Ĩ:Iiɚ@ F= K))KKC*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743039913.763165 s, next control iter: 1743039914.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039914.163165 s.y}J~,qj+AA@2@A]22@A#-V~? A]A&"AA+hhNA"AZAbAjArAzAAAx4AZrsAh@A'<AIA驿A@1?AO]A<*A9?2Aֽ:ABA9?JAֽRAYi@yWY(<ٓH@?7?@b`8/? m???@!?)i@ I٘i)I9h@Y G J$<J{<JJJ F&KDx> Y cT~?yөFA1 F77{7[~9-B)BE[[ T[U~?[[[[[BZYY i) ;Ii@E= ;));;=*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743039914.183165 s, next control iter: 1743039914.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039914.583165 s.J~, Sj+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743039914.583292F (some fields omitted in printout)J"J*J2J:J]"xFailed to acquire real or simulated CTD data within timeout.BJ1nJ-"(Communications FaultvJ! ! ! ! ! A)\u2@Axakh2@A/V~? AeǪAO&"AAlhNA"AZAbAjArAzAAA,3e A7wsAmi@A}:AگAbAmo?A.PAs<*A9?2Aֽ:AFBA9?JAֽRAF٘i)I9mi@YG J<JJJJ F&K YiT~?yܩpFA2 F{7%9)B[[3*[U~?[5[[[[BZYY i) 0N;Iie@E= D ))D D y*YF-!\Communications Fault in component: CTD_SeabirdF]!\Communications Fault in component: CTD_SeabirdF]Waiting for Gazebo time sync: latest Gz time: 1743039914.603165 s, next control iter: 1743039914.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13413, header.stamp.nsec: 00 temperature: 13.571747* salinity: 33.374992, density: 1025.000000* values[0]: 0.570586F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039915.003165 s.x J~,L4j+A!U@!M@!I@!Q@!E@!A@!Y@AR2@Az2@AS3V~? AhϪAE&"AAphNA"AZAbAjArAzAAAIq A׺a|sAi@A>AIA)ݤA/?A@Aӄ<*A9?2A#gֽ:A6BA9?JA#gֽRA6٘i)I9i@YcG J<JJJJ F&K YpT~?yFA4 Fb779.B)ޯBE[[5[U~?[ĩ[[[[BZYY i) -%;Iiy@E= ))ǿ*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743039915.023165 s, next control iter: 1743039915.403178 s, wait time: 0.380013 s*pT~?)* rAdjusting time to match Gazebo time: 1743039915.423165 s.uJ~,j+AJ"J*J2J:JBJnJvJA{G2@A=2@A37V~? AeתA&"AAvhNA"AZAbAjArAzAAAkWSt@ AsAzj@AlWAAeMAA?A.A9<*A59?2AUֽ:AJBA59?JAUֽRAJ٘i)I9zj@YG JŸ<JJJJ F&K YgwT~?y2GA5 F77j79)گB[[֥[U~?[˩[[[[BZYY i)  ͤ;Ii@F= 7))77*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039915.463165 s, next control iter: 1743039915.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13414, header.stamp.nsec: 00 temperature: 13.571459* salinity: 33.374996, density: 1025.000000* values[0]: 0.571213F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039915.843165 s.ݼJ~,j+A "2Initializing CTD_Seabird.vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743039915.843314F (some fields omitted in printout)Ap= 3@Aw 3@A;V~? A\ߪA?{%"AAY|hNA"AZAbAjArAzAAA6qL ASasAj@A,<AوA㭟A_?A`[Aؙ<*A9?2Adֽ:ABA9?JAdֽRA٘i)I9j@YG J<B=JJJJ F&K Y1~T~?y(GA6 F7779)֯BE[[M[V~?[yѩ[[[[BZYY i) v;Ii,@ҞF= ~))~~x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039915.863165 s, next control iter: 1743039916.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039916.263165 s.J~, k+AJ"J*J2J:JBJnJvJAL3@A l?3@A@V~? AKA%"AA_hNA"AZAbAjArAzAAAg^ A49sAZ}k@A zAa1AGA@?AKA<*A9?2Aֽ:A4BA9?JAֽRA4YΚ@y!1ØzٓH`p?@v?`?9??@Ao ?)Κ@ I٘i)I9}k@YRG J<C=J?5<JJJ F&KWx> YT~?yrGA8 F7P9)үB[[W[ V~?[ש[[[[BZYY iu8=) ;Ii@rF= ))0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039916.283165 s, next control iter: 1743039916.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 134152, header.stamp.nsec: 020 temperature: 13.5712102* salinity: 33.3750082, density: 1025.0000002* values[0]: 0.5718562F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039916.683165 s.lJ~,(+k+AA(\3@A ˂u3@AEV~? A1A[E%"AA1hNA"AZAbAjArAzAAA2@ A-' sA4k@Amu;AAPA࿢?A@A<*A9?2A׽:ALBA9?JA׽RAL٘i)I9k@YG J<JJJJ F&K YDT~?yIHA9 Fj7Z79/B)ϯBE[[Z[~V~?['ީ[[[[BZYY i)  elevatorAngleAction: 0.078233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199482 time: 1743039917.103279F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ3@AׇF3@AKV~? AAc%"AAϓhNA"AZAbAjArAzAAAI A]ؔsAhl@A#M<ALՅAA|?AA<*A9?2A/:׽:A(gBA9?JA/:׽RA(g٘i)I9hl@YG J6<JJJJ F&K YϚT~?yHA: F7777劷9)̯B[[a0[V~?[s[[[[BZYY i) Iyk+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.078233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743039918.363313F (some fields omitted in printout)AY4@AR L4@A`V~? AfA4%"AAThNA"AZAbAjArAzAAA&M A=%sA m@ArxAAA:?AviAT<*A9?2A[ֽ:ASBA9?JA[ֽRASY@SyyٓH ??@h@9?4?`?@Lo?)@ I٘i)I9m@YG J<B=J]JJJ F&Kw> YT~?y'IA> Fb7b7E91B)ïB!E[[[0V~?[[[[[BZYY i) r? elevatorAngleAction: 0.078233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743039919.623267F (some fields omitted in printout)J"J*J2J:JBJnJvJAG4@A4@A^zV~? AM%AW!%"AAhNA"AZAbAjArAzAAAjA7˛sAZ2o@AA<&Ay3AӲ?A ALI<*Ag9?2Aֽ:A9v BAg9?JAֽRA9v ٘i)I92o@YG Ju<JJJJ F&K YT~?yc?JAB F779)B[[#3[JV~?[^ [[[[BZYY i) pm YT~?yNKA邿E F77{7;93B)B(E[[3ދ[]V~?[P[[[[BZYY i)  elevatorAngleAction: 0.078233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743039920.883323F (some fields omitted in printout)A(5@AԚ5@ARV~? A;Aj%"AAiNA"AZAbAjArAzAAA} A&]sAp@A[<AЛA-Al^?A`aAy<*A9?2A0׽:AǸ BA9?JA0׽RAǸ ٘i)I9p@YG J_<C=JJJJ F&K YBU~?y\VKAF FS7794B)B)E[[[gV~?[5[[[[BZYY i)  A8{AR;?A-Axߥ<*AO9?2Aֽ:ABAO9?JAֽRA٘i)I9Bq@YG J<JJJJ F&K YU~?y]eLAH F)7)7М95B)B,E[[[rV~?[![[[[BZYY i) G elevatorAngleAction: 0.087683< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743039922.143294F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=6@AwDf06@AV~? AmQA|%"AA6iNA"AZAbAjArAzAAA(A@8MsA4fr@Ays A졽A+qA ?A@A c<*A9?2AAֽ:ABA9?JAAֽRA٘i)I9fr@YG J_<JJJJ F&K Yd4U~?yl2MAK F77f96B)B/E[[.[V~?[,[[[[BZYY i) U0 YwEU~?ysMAkL F7097B)B0E[[u[V~?[L2[[[[BZYY i) = zR))zRzRy=v="*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039923.023165 s, next control iter: 1743039923.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039923.403165 s.&6J~,l+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.087683< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743039923.403293F (some fields omitted in printout)AQ6@A6@AV~? A}fA!%"AAoiNA"AZAbAjArAzAAA#B>OAsAS6t@ASAZsA:kaAf?A3 A<*Ao9?2Aֽ:ABAo9?JAֽRA٘i)I96t@YG JD<JJJJ F&K YgU~?y쁪{NAO F)7ŧ7ƥ9)B[[Ry[V~?[=[[[[BZYY i) ll+AJ"J*J2J:J?BJ?nJ5vJAGz7@AWXp7@AV~? AXmAܚ%"AAHiNA"AZAbAjArAzAAAG|b=ܴAS sAt@AD;Ap墳A8\AK8?A>A5/<*A9?2A ׽:AFBA9?JA ׽RAF٘i)I9t@YG J<JJJJ F&K YxU~?yNAP F779)B6E[[t[̶V~?[C[[[[BZYY i) )AYhv,sA nu@APyO<AAVA@?A@AA1<*A9?2Am*׽:AEmBA9?JAm*׽RAEm٘i)I9nu@Y`G J <JJJJ F&K YÉU~?yWOAQ F[9)B[[ p[`V~?[H[[[[BZYY i) > elevatorAngleAction: 0.087683< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743039924.663263F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13423, header.stamp.nsec: 00 temperature: 13.568855* salinity: 33.375053, density: 1025.000000* values[0]: 0.577096F (some fields omitted in printout)A7@ANzr7@A W~? AzA%"AA9iNA"AZAbAjArAzAAA>AҶ>sAo v@A[H<AAYuQA+?A`>AN<*A"9?2Af׽:ABA"9?JAf׽RAYէ@=Qy]I<ٓH`?[?CZK!??`?T ?I?)է@ I٘i)I9 v@YG J<B=J[hJJJ F&Kx> Y U~?y]OAQS F&9:B)B:E[[=l[1V~?[M[[[[BZYY i) 9 elevatorAngleAction: 0.087683< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743039925.923287F (some fields omitted in printout)A{G!8@A_(`;8@A:W~? A6A%"AAiNA"AZAbAjArAzAAA13A7sA$x@AjAAڶAaBAc?AeA;&<*A9?2Asֽ:AbC!BA9?JAsֽRAbC!٘i)I9x@YG J1<JJJJ F&K YU~?y.QAW Fb79BZYY i¸>Zީ)  YTU~?yڵRA7Y F7{79>B)qBDE[[ZV[W~?[g[[[[ZZZZBZYY i)  ?AԣtA|@A'i<A""7A'A$T?AA<*Al9?2Aֽ:AIBAl9?JAֽRAI٘i)I9|@YiG JW<JJJJ F&K Y?V~?y3ǪSA] F{9?B)_BJE[[;'I[AW~?[v[[[[ZZZZBZYY i) 7n+AJ"J*J2J:JBJnJvJA9@A͎9@AW~? A߷A_%"AA٫jNA"AZAbAjArAzAAA9PW?Ay[ tA4}@A౯:A4AA?A#AB<*AZ9?2A-ֽ:A<BAZ9?JA-ֽRAJJJ F&Kux> YskV~?yҪTA` F9AB)WBOE[[SQ@[?aW~?[[[[[ZZZZBZYY iA) 2 =A A?A3%޿A;*A9?2Aֽ:A\<BA9?JAֽRA\<٘i)I9~@YG J&;C=JJJJ F&K Y˰V~?y_3TAd F7q·9CB)XE[[o2[W~?[[[[[BZYY i) 8F4?5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039930.163165 s, next control iter: 1743039930.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039930.543165 s.IJ~,ân+AJ"J*J2J:J?BJ?nJ'5vJA= ףp:@A4(c:@AX~? AͫAL:%"AA6!kNA"AZAbAjArAzAAAo喓?AtAW~@A)Ax2=AAD?AjݿAS7*Af9?2ATֽ:Ar<BAf9?JATֽRAr<٘i)I9Y JbB=JJJJ F&K YV~?yxCTAe F777;ķ9)[[}.[W~?[ [[[[BZYY i) 3JJJ F&Kv> YV~?ySAg F)77Ʒ9)TB[E[[_ *[W~?[L[[[[BZYY igf) A"))0 >0 >YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039931.423165 s, next control iter: 1743039931.783177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13430", header.stamp.nsec: 0"0 temperature: 13.566568"* salinity: 33.375114", density: 1025.000000"* values[0]: 0.581761"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039931.803165 s.{AJ~,gn+AA;@A[^;@A@X~? A۫A%"AA~kNA"AZAbAjArAzAAA0T-@A))>>YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743039931.823165 s, next control iter: 1743039932.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039932.223165 s.gJ~,Ho+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: -0.066013< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743039932.223301F (some fields omitted in printout)AzG;@A3:;@A6VX~? AVAk%"AAkNA"AZAbAjArAzAAANY*2@A==<#tA|@A;A8=AIAdf?A]ڿAY*A9?2AZֽ:A]N=BA9?JAZֽRA]N=٘i)I9|@YG J`JJJJ F&K Y]*W~?ySAk F{7{7f˷9)_B[[+[W~?[[[[[BZYY i) ;Ii}@>"= 1>))1>1>yDgǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039932.243165 s, next control iter: 1743039932.623181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039932.643165 s.zJ~,*)o+AA ףp};@A hp;@AkX~? AAd%"AAAkNA"AZAbAjArAzAAAv?@A=^b%tAMa|@AYAzm=A?ݾA@?A`ٿA 攼*A9?2A8ֽ:A =BA9?JA8ֽRA =٘i)I9a|@YG JuB=JJJJ F&K YBW~?y(RAl F771ͷ9)cBeE[[[oW~?[[[[[BZYY i) P;Ii{@!= PC>))PC>PC>tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13431, header.stamp.nsec: 00 temperature: 13.566644* salinity: 33.375126, density: 1025.000000* values[0]: 0.581400F (some fields omitted in printout)yೈΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039932.683165 s, next control iter: 1743039933.043178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039933.063165 s.J~,k Do+AJ"J*J2J:JBJnJvJA3333;@A(;@AɁX~? A#A%"AABkNA"AZAbAjArAzAAA5F¡S @AUp(tA{@ADA =AҾA[?A ʿؿAg˜*Ak9?2AWֽ:A( =BAk9?JAWֽRA( =Yش@BӾy=EٓH@D;??ڲ?@ٿR?` Z<@?)ش@ I٘i)I9{@YMG JC=JV=JJJ F&K8x> Y\W~?ymRABӾm F777η9GB)hBhE[[[X~?[^[[[[BZYY i) ,;Iiw@ի= U>))U>U>ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039933.083165 s, next control iter: 1743039933.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039933.483165 s.w_J~,^o+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066013< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743039933.483291F (some fields omitted in printout)A\;@At ;@AX~? ATAU%"AAlNA"AZAbAjArAzAAAഹn @AKɏ;*+tAZ{@AVA:=AVȾA-?A`\׿AsI*Ar9?2Abֽ:A# =BAr9?JAbֽRA# =٘i)I9Z{@YG JzJJJJ F&K YvW~?y7RAo F7з9)lBkE[[ [!X~?[[[[[BZYY i) ;Iit@= g>))g>g>֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039933.503165 s, next control iter: 1743039933.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13432, header.stamp.nsec: 00 temperature: 13.566773* salinity: 33.375145, density: 1025.000000* values[0]: 0.580899F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039933.903165 s.J~,yo+AJ"J*J2J:J?BJ?nJ5vJAQ<@Aȯ<@A}X~? AaAj%"AA#lNA"AZAbAjArAzAAAȨ$@ATr-tAz@A,HA$=A'A/j?AC׿Aj쫼*Aќ9?2Anֽ:A =BAќ9?JAnֽRA =٘i)I9z@YG JݧB=JJJJ F&K YW~?yQAp Fŧ7b7ҷ9HB)qBnE[[7 [4X~?[[[[[BZYY i) 3Q;Iiq@E= y>))y>y>EتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039933.943165 s, next control iter: 1743039934.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039934.323165 s.tJ~,o+AAGzT<@AnG<@AC=JJJJ F&K YoW~?yF 7QAq Fj7Z7[Է9RB)B[[w[GX~?[G[[[[BZYY i) r;Iio@ = >))>>תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039934.363165 s, next control iter: 1743039934.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13433*, header.stamp.nsec: 0*0 temperature: 13.566950** salinity: 33.375137*, density: 1025.000000** values[0]: 0.580339*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039934.743165 s.WJ~,qo+AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066013< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743039934.743296F (some fields omitted in printout)Aףp=<@A$P2}<@A;X~? A A%"AAuhlNA"AZAbAjArAzAAA7ۃr@Aj^R2tA y@A/<AɊ=AAk?AsտA8*A49?2Asֽ:AB =BA49?JAsֽRAB =٘i)I9y@YG JJJJJ F&K YMW~?y PAs Fŧ7b7&ַ9)BqE[[_[w[X~?[[[[[BZYY i) 7:Iil@= >))>>3֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039934.783165 s, next control iter: 1743039935.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039935.163165 s.}J~,qo+AA<@Aj<@AxX~? AA%"AAylNA"AZAbAjArAzAAA [@AMۇ4tAy@A6\<AX=AAG?AԿAڔ*A9?2Aֽ:A =BA9?JAֽRA =Y@ 1yjU=_]<ٓH\a?£?+?hӿs?5M& ? N?)@ I٘i)I9y@YG JvJTJJJ F&Kw> Y/W~?yiPA1t F77׷9SB)BuE[[5[oX~?[ [[[[BZYY i) 9Iih@Q= ">))">">;ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039935.183165 s, next control iter: 1743039935.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039935.583165 s.,J~,XSo+AJ"J*J2J:J|?BJ|?nJ5vJA)\<@AND<@A Y~? A&A,D%"AAڮlNA"AZAbAjArAzAAA0?@A-6tAqx@A4<A=AAuI?A9ӿA*A9?2A}bֽ:AC=BA9?JA}bֽRAC=٘i)I9qx@Y6G JڳJJJJ F&K YW~?y1PAu F777ٷ9)BxE[[-[X~?[F[[[[BZYY i) NIiXe@B= 8>))8>8>ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039935.623165 s, next control iter: 1743039935.983192 s, wait time: 0.360027 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13434, header.stamp.nsec: 00 temperature: 13.567122* salinity: 33.375156, density: 1025.000000* values[0]: 0.579695F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039936.003165 s.~ J~,e4p+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066013< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743039936.003334F (some fields omitted in printout)AR+=@Ao{=@A"Y~? AyA%"AAlNA"AZAbAjArAzAAAw@A8d?8tAw@A{A=AWA`|?A ҿA਼*A9?2A'ֽ:A8=BA9?JA'ֽRA8=٘i)I9w@YG JnJJJJ F&K YX~?yOAw Fb77۷9)B{E[[5[+X~?[hª[[[[BZYY i) qIi b@и= \>))\>\>˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039936.043165 s, next control iter: 1743039936.403182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743039936.423165 s.uJ~,p+AJ"J*J2J:JBJnJvJA{Ga=@AnB))>>ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039936.463165 s, next control iter: 1743039936.823175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13435, header.stamp.nsec: 00 temperature: 13.567274* salinity: 33.375183, density: 1025.000000* values[0]: 0.579084F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039936.843165 s. J~,5p+AAp= =@AT:X=@ARY~? A A%"AA mNA"AZAbAjArAzAAA0@Aށ@u))UƼ>UƼ>ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039936.883165 s, next control iter: 1743039937.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039937.263165 s.J~,Pp+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: -0.066013< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743039937.263280F (some fields omitted in printout)A=@AƣT¿=@AjY~? A AK%"AA?mNA"AZAbAjArAzAAAz;6@AǤ5>tANv@A)0Að=AiUA`?A1пA\ɘ*A9?2AXֽ:A<BA9?JAXֽRA YWfX~?ynNA,V{ F7b79)BE[[6̾[X~?[)˪[[[[BZYY i) @IiX@ = >))l1>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039937.303165 s, next control iter: 1743039937.663176 s, wait time: 0.360011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 134362, header.stamp.nsec: 020 temperature: 13.5674332* salinity: 33.3751872, density: 1025.0000002* values[0]: 0.5785572F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039937.683165 s.lJ~,^kp+AA(\>@AdU=@A}Y~? A?AM%"AAdmNA"AZAbAjArAzAAA)Sf6_@A?tAu@A\Aߊ=A-AA@0?A@&οA*A-9?2A ֽ:AW<BA-9?JA ֽRAW<٘i)I9u@YG JJJJJ F&K YX~?yNA| FZ7Z79)BE[[!þ[X~?[ͪ[[[[BZYY i) IiT@'= >)) >>eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039937.683165 s, next control iter: 1743039938.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743039938.103165 s.J "J !J~*J2J,Кp+A:J ?BJ ?nJ:5vJAQ8>@AeQE+>@A*Y~? AA%"AAmNA"AZAbAjArAzAAAz\{@A:"DmAtA}Ou@Aҫ;A=A&U-A $Y?A@̿A{㖼*A9?2A@5ս:Ab<BA9?JA@5սRAb<٘i)I9Ou@YMG JJJJJ F&K YX~?y MA} Fŧ77|9)BE[[¹[dX~?[qЪ[[[[BZYY i) ƻIiDQ@= ]>))]>]>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039938.143165 s, next control iter: 1743039938.503184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743039938.523165 s.'J~, |p+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075017< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743039938.523308F (some fields omitted in printout)AHzn>@AJ a>@AY~? A5A%"AA}mNA"AZAbAjArAzAAA껷@A(BtA_t@AV<A=AHOA`r|?A`y˿A*A9?2A2ս:A=BA9?JA2սRA=٘i)I9t@YG JJJJJ F&K Y))E>E>yqмYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039938.543165 s, next control iter: 1743039938.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13437, header.stamp.nsec: 00 temperature: 13.567548* salinity: 33.375195, density: 1025.000000* values[0]: 0.578041F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039938.943165 s.[d.J~,O]p+AJ"J*J2J:JBJnJvJAq= ף>@A:pΖ>@AY~? AuA%"AA))>>伪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039938.963165 s, next control iter: 1743039939.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039939.363165 s.5J~,>p+AA>@Ac>@A Y~? AAX%"AA4mNA"AZAbAjArAzAAAW{@A2$wEtAs@A*;A[Ή=AH޽A?A^ǿAU*A 9?2Aս:Aa=BA 9?JAսRAa=Y@J ޽y͉=;ٓH`w?ǻ??ಣ?`zPk6Tr?_?)@ I٘i)I9s@YjG J%JN[JJJ F&Ku> YX~?y^%LA ޽ F7779)BE[[ם[v@Y~?[ת[[[[BZYY i) IiG@< H>)).{H>H>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039939.383165 s, next control iter: 1743039939.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13438&, header.stamp.nsec: 0&0 temperature: 13.567674&* salinity: 33.375191&, density: 1025.000000&* values[0]: 0.577530&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039939.783165 s.U;J~,p+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245296@ elevatorAngleAction: -0.075017< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743039939.783289F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\?@A}.P?@AcZ~? A|A|1%"AAb!nNA"AZAbAjArAzAAA0<"MI@AIؿFtA+ds@ALA=A쵳A?AſA(*A9?2A{iֽ:A=BA9?JA{iֽRA=٘i)I9ds@Y"G JSJJJJ F&K Y Y~?yR&;LA F)7)79)B[[Y[tVY~?[٪[[[[BZYY i) a!IiB@< ]>)) ]>]>]YFFF]Waiting for Gazebo time sync: latest Gz time: 1743039939.803165 s, next control iter: 1743039940.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039940.203165 s.CJ~, q+AAQE?@Aej8?@AZ~? AAA7 %"AAGnNA"AZAbAjArAzAAAT"> @A]_/KGtA|r@AtHAnj=A剽A \?A`ޔÿAɾ*A^9?2Ag>ս:A=BA^9?JAg>սRA=٘i)I9r@YG J銼JJJJ F&K Y)Y~?yF'KA Fb77q9)BE[["[lY~?[۪[[[[BZYY i) 0IiF?@< ~?))~?~?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039940.223165 s, next control iter: 1743039940.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039940.623165 s.YIJ~,e'q+AJ"J*J2J:JBJnJvJAGz?@A>sm?@AI3Z~? AA%"AATnnNA"AZAbAjArAzAAAu @AHtANzr@ArRAa=A)xBA?A`AL*A9?2Adս:A"=BA9?JAdսRA"=٘i)I9zr@YG JzJJJJ F&K Y3EY~?y:(KA F7<9)BE[[![;Y~?[ݪ[[[[BZYY i) h@Ii;@p< J7?))J7?J7?ĪY/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039940.663165 s, next control iter: 1743039941.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13439 , header.stamp.nsec: 0 0 temperature: 13.567763 * salinity: 33.375217 , density: 1025.000000 * values[0]: 0.577055 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039941.043165 s.PJ~,Bq+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075017< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743039941.043310F (some fields omitted in printout)A= ף?@A ?@ALZ~? AQA%"AA nNA"AZAbAjArAzAAAGt!@APItAr@AeڻA.=AEA%?A޿A.+*A@9?2Avcս:A=BA@9?JAvcսRA=٘i)I9r@YJG JJJJJ F&K YJaY~?y.)&KA Fŧ7b79SB)ïBE[[dp[Y~?[Iߪ[[[[BZYY i) OIi9@<  ?)) ? ?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039941.083165 s, next control iter: 1743039941.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039941.463165 s.UWJ~,]q+AJ"J*J2J:JBJnJvJAffff?@A28J^?@AfZ~? A A%"AAnNA"AZAbAjArAzAAA["@ARUwJtAmq@AeOG;A_K=AA 7?A1AH*A9?2ARս:A& =BA9?JARսRA& =Y@oy3K=G;ٓH ??c? ?]m`Ve h??)@ I٘i)I9q@YG JKJ4<JJJ F&Kt> Y}Y~?y@)JAo Fb779)ǯBE[[][Y~?[[[[[BZYY i) f._Iis4@< ֧?))[w֧?֧?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039941.503165 s, next control iter: 1743039941.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13440, header.stamp.nsec: 00 temperature: 13.567880* salinity: 33.375229, density: 1025.000000* values[0]: 0.576595F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039941.883165 s.y]J~,4xq+AA(@@AH@@AXZ~? A!A%"AAnNA"AZAbAjArAzAAA` ڬ"@A(KtA&p@A#7<Ae =A.;<A`H?A|AQ蠼*A9?2AQXս:A =BA9?JAQXսRA =٘i)I9p@YG JJJJJ F&K YęY~?yS)`JA F7779)˯BE[[{J[fY~?[f[[[[BZYY i׳)  onIi50@< a?)) ͅa?a?ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039941.903165 s, next control iter: 1743039942.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039942.303165 s.SdJ~,jgq+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261330@ elevatorAngleAction: -0.083839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743039942.303291F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@@AJD@@A/Z~? A"AK%"AA oNA"AZAbAjArAzAAA_jI#@Al,KtA`vp@A>[<A d=A<AY?A A,*A9?2Aӽ:A-=BA9?JAӽRA-=٘i)I9vp@YZG JܢJJJJ F&K YY~?ye)IA F77f9)ϯBE[[37[}Y~?[[[[[BZYY i) ߯}Ii[,@Н< $?)) $?$?+ϪYFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743039942.323165 s, next control iter: 1743039942.703174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13441*, header.stamp.nsec: 0*0 temperature: 13.567979** salinity: 33.375244*, density: 1025.000000** values[0]: 0.576065*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039942.723165 s.kJ~,Hq+AAz@@Aiz@@AZ~? A#At%"AA51oNA"AZAbAjArAzAAAgOXQ#@A-9?LtAo@A <Aڗ=AQ=A`e?A.AŢ*A9?2AVԽ:A}=BA9?JAVԽRA}=٘i)I9o@YG JӣJJJJ F&K Y>Y~?yw)IA F7719)ӯBE[[S$[Y~?[[[[[BZYY i) %yIi(@0< ?))??ЪYمYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039942.743165 s, next control iter: 1743039943.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039943.143165 s.Y/rJ~,*q+AJ"J*J2J:JBJnJvJA ףp@@Awe@@A Z~? A0$A9f%"AAXoNA"AZAbAjArAzAAA$@A7PLtAdo@A2Aq=A+T=An?A\dAA*A9?2Aս:Aj=BA9?JAսRAj=I٘i)I9do@YG JJJJJ F&K Y|Y~?y)7IA F77j79)ׯB[[7[Y Z~?[$[[[[BZYY i) 8Ii%@E< $?))$?$?y4ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039943.163165 s, next control iter: 1743039943.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039943.563165 s.xJ~,R q+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743039943.563282F (some fields omitted in printout)A3333@@Aq0'@@AZ~? A$AZ%"AAoNA"AZAbAjArAzAAA`hɅ!%@AtKLtAgn@AA٨=A"=A@u?AU΢A3*A9?2Aս:A =BA9?JAսRA =YP@硼=y=NJٓHl?`M@@?z?Y?M?@~?)P@ I٘i)I9n@YaG JJ@2<JJJ F&KCt> Y Z~?y(HA= F)7ŧ79RB)ۯBE[[R[$Z~?[[[[[BZYY i) Ii!@(< )?))'t)?)?XתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039943.603165 s, next control iter: 1743039943.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13442, header.stamp.nsec: 00 temperature: 13.568118* salinity: 33.375256, density: 1025.000000* values[0]: 0.575521F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039943.983165 s.J~,q+AJ"J*J2J:JBJnJvJA\(A@AA@A[~? A%AR%"AA>oNA"AZAbAjArAzAAAny;%@A$T%MtAUn@Am[A=As\=Az?AgAb*A9?2Aֽ:A-=BA9?JAֽRA-=٘i)I9Un@YG J>B=JJJJ F&K Y&Z~?y'eHA F77{79)߯BE[[Fս[9MtAm@A)&A*=A$>A~?A`݇zAGq*A9?2AԽ:A=BA9?JAԽRA=٘i)I9m@YG JPC=JJJJ F&K YBZ~?y'GA FSI7SI7\9)BE[[3[SZ~?[[[[[BZYY i) 󛤼Ii@4q< h)3?)) h)3?h)3?2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039944.423165 s, next control iter: 1743039944.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13443", header.stamp.nsec: 0"0 temperature: 13.568236"* salinity: 33.375286", density: 1025.000000"* values[0]: 0.574977"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039944.823165 s.J~,%4r+AJ"J*J2J:J1?BJ1?nJX5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743039944.823297F (some fields omitted in printout)AGzA@ACoA@A6[~? A*%AA I~?A9Z?Aq*A9?2Aeӽ:A|=BA9?JAeӽRA|=٘i)I95m@Y^G JCJJJJ F&K  9Y^Z~? 9yL&GA F77j7'9QB)BE[[v:[kZ~?[:[[[[BZYY i) Ii@Uپ< 8?))8?8?-YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039944.863165 s, next control iter: 1743039945.223179 s, wait time: 0.360014 s^Z~?)L& rAdjusting time to match Gazebo time: 1743039945.243165 s.J~,qOr+AAףp=A@Ag}1A@A!P[~? A%AM%"AApNA"AZAbAjArAzAAAn~˘'@A ˻$MtAWl@A<AӼ=A/>Av{?A*a?AG*A9?2A_ӽ:Az=BA9?JA_ӽRAz=٘i)I9l@YG JJJJJ F&K Y {Z~?y}%)GA F{79)BE[[ B[$Z~?[[[[[BZYY i) VIi@ź< ,ATv?A?A_fļ*A9?2AtNԽ:A=BA9?JAtNԽRA=Y0@jD>y=EY<ٓHM?@Bȿ@?@ Q?j?Xg?`=W v??)0@ I٘i)I9k@YG JJ<JJJ F&K s> YZ~?y#FAjD> F7779PB)BE[[&[Z~?[[[[[BZYY i) 6Ii @< A?))sA?A?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039945.683165 s, next control iter: 1743039946.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039946.083165 s.DJ~, Sr+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237359@ elevatorAngleAction: -0.083839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743039946.083282F (some fields omitted in printout)A)\5B@A=G(B@A![~? A6$AY%"AAolpNA"AZAbAjArAzAAAw(@AFC:LtAQk@A~?<A=A]8X>An?A?AǼ*A9?2AԽ:A2=BA9?JAԽRA2=٘i)I9Qk@Y8G JFƼJJJJ F&K YrZ~?y""DFA F79)BE[[["Z~?[[[[[BZYY i) l=¼Ii@pɮ< ĨF?))1ĨF?ĨF?GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039946.103165 s, next control iter: 1743039946.483181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039946.503165 s.J~,@4r+AJ"J*J2J:J?BJ?nJ5vJARkB@AZ {^B@A[~? A#A]d%"AA͓pNA"AZAbAjArAzAAA ~q)@AqDLtAMj@A;A =Am>A.g?A?Aȼ*A~9?2AWӽ:A=BA~9?JAWӽRA=٘i)I9j@YG JȼJJJJ F&K Y#Z~?yu EA F77{7Q9)B[[!<[mZ~?[[[[[BZYY i) ɼIix@< &K?)) &K?&K?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039946.523165 s, next control iter: 1743039946.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13445, header.stamp.nsec: 00 temperature: 13.568570* salinity: 33.375313, density: 1025.000000* values[0]: 0.573708F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039946.923165 s.7J~,r+AA{GB@A>B@A[~? A"Acr%"AApNA"AZAbAjArAzAAA8*@Aw KtAj@A*AU\=A>A [?A@?Aȼ*Ax9?2A&ӽ:A=BAx9?JA&ӽRA=٘i)I9j@YkG JȼJJJJ F&K YZ~?y_EA Fb77 9OB)BE[[!<[Z~?[[[[[BZYY i) мIi@wܤ< P?))P?P? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039946.943165 s, next control iter: 1743039947.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039947.343165 s.A5M?Aa?A(ȼ*A9?2AdwԽ:A@=BA9?JAdwԽRA@=٘i)I9Xi@YG JkȼJJJJ F&K Y[~?yDA F{7{7 9)BE[[VG=[}Z~?[[[[[BZYY io) g+ؼIi?W< HU?))HU?HU?Y!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039947.363165 s, next control iter: 1743039947.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13446*, header.stamp.nsec: 0*0 temperature: 13.568766** salinity: 33.375324*, density: 1025.000000** values[0]: 0.572988*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039947.763165 s.9J~,'r+AA C@AƣTB@A[~? A A%"AA~ qNA"AZAbAjArAzAAAeG+@ALJtAʮh@ApNA=A>A`y=+9OٓHW?qҿcZ?/O?`??q8͉n?)= I٘i)I9h@Y G J ʼJ<JJJ F&Ktr> Y [~?ytDA!> F77 9NB) BùE[[J=[[~?[0[[[[BZYY i) c߼Ii-?OZ< rZ?))3qrZ?rZ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039947.803165 s, next control iter: 1743039948.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039948.183165 s.J~,g s+AJ"J*J2J:JBJnJvJA(\BC@A'5C@A[\~? AdA%"AA0qNA"AZAbAjArAzAAAܪ+@AItA]h@AӖŻA꙳=AZɟ>A?(?Av?Alϼ*A9?2A*ս:A;=BA9?JA*սRA;=٘i)I9h@Y4 G JDͼJJJJ F&K Y;[~?y CA F777|9)BƹE[[ڲ=[?.[~?[[[[[ZZ¸BZYY i¸_=) aӼIi?̉< 8k_?))8k_?8k_?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039948.223165 s, next control iter: 1743039948.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039948.603165 s.74J~,&s+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.255820> elevatorAngleAction: 0.083190< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743039948.603286F (some fields omitted in printout)AQxC@A#FkC@A\~? AA%"AAnWqNA"AZAbAjArAzAAAG ,@Ayl|HtAQg@Ap;A=Ar>A`?A`?AJּ*A:?2A:ҽ:A=BA:?JA:ҽRA=٘i)I9Qg@Y G JҼJJJJ F&K YV[~?yCA F{7j7G9MB)BɹE[[=[F[~?[[[[[ZZBZYY i) ^cǼIi??< md?)) md?md?yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039948.623165 s, next control iter: 1743039949.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13447 , header.stamp.nsec: 0 0 temperature: 13.568954 * salinity: 33.375324 , density: 1025.000000 * values[0]: 0.572302 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039949.023165 s.ZJ~,{As+AJ"J*J2J:JBJnJvJAHzC@A5 C@A8\~? AXA%"AA2~qNA"AZAbAjArAzAAA-@AtEZGtAYf@AI;<Ag=A >A k?AO?Ao*A:?2Aĝҽ:AՈ=BA:?JAĝҽRAՈ=٘i)I9f@YN G J{JJJJ F&K Yq[~?yCA Fŧ7b79LB)B̹E[[m>[_[~?[[[[[ZZBZYY i) bIib?f|< 6zi?))6zi?6zi?y = YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039949.063165 s, next control iter: 1743039949.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039949.443165 s.:J~,J]\s+AAq= C@AtC@AQ\~? AA%"AA̤qNA"AZAbAjArAzAAAeM-@A`LOFtAe@AV<A^=A>Aw?A`TR?A *A_":?2AMӽ:A<BA_":?JAMӽRA<٘i)I9e@Y G JJJJJ F&K Y[~?yzBA F7{79MB)B[[>[yx[~?[[[[[ZZBZYY i) bIi?B< n?))n?n?y쿨=ԪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039949.483165 s, next control iter: 1743039949.843178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13448, header.stamp.nsec: 00 temperature: 13.569201* salinity: 33.375362, density: 1025.000000* values[0]: 0.571471F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039949.863165 s.+J~,>ws+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083190< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743039949.863336F (some fields omitted in printout)AD@Aq D@A6k\~? AA,+%"AAA?A ?Ai*A"):?2AԽ:A/bu<BA"):?JAԽRA/bu>yHw=q;ٓH?`Rؿ@d ?aN??I?4䮿 +??)K/> I٘i)I9d@Y@ G JJeJJJ F&Kyq> Yæ[~?y CBA> Fb779JB)#BιE[[%*>[[~?[[[[[ZZBZYY i) Ii?4< s?))Vqs?s?6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039949.883165 s, next control iter: 1743039950.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039950.283165 s.4RJ~,s+AA(\OD@A1"QBD@Ab\~? AAQ%"AA}qNA"AZAbAjArAzAAA.@A!H]DtA d@AY A2=A6>A ?A?Aϼ*A+:?2AԽ:AG;BA+:?JAԽRAG;٘i)I9 d@Y G JJJJJ F&K Y[~?y AA Fj7{7r9IB)(BѹE[[mi>>[[~?[M[[[[ZZBZYY i) ؘIi?t< 6x?)) 낾6x?6x?zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039950.303165 s, next control iter: 1743039950.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13449., header.stamp.nsec: 0.0 temperature: 13.569474.* salinity: 33.375366., density: 1025.000000.* values[0]: 0.570563.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039950.703165 s.ֺJ~,s+AJ"J*J2J:J?BJ?nJ(5vJAQD@A RxD@Al\~? AfA{%"AArNA"AZAbAjArAzAAA0r(}/@AW)tCtAkc@Aw6Aį<Ah>A`1?A?A,*AL:?2A/ҽ:AUBAL:?JA/ҽRAU٘i)I9kc@Yh G JJJJJ F&K Y [~?ykAA Fŧ77<9HB)-BԹE[[-R>[|[~?[[[[[ZZBZYY i) cIig?Izi< }?)) }?}?4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039950.723165 s, next control iter: 1743039951.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039951.123165 s.8J~,as+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083190< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743039951.123321F (some fields omitted in printout)AGD@A խD@AT\~? AAP%"AAm=rNA"AZAbAjArAzAAA`.Sd 0@Al~fAtAb@AnAr<ARN>Ag?A`?As{*AO:?2Aҽ:A?BAO:?JAҽRA?٘i)I9b@Y G JJJJJ F&K Y,[~?yJAA Fb79)0B׹E[[g>[[[~?[[[[[ZZBZYY i) ~NIi?_< x?))x?x?/sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039951.143165 s, next control iter: 1743039951.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039951.543165 s.IJ~,s+AJ"J*J2J:JBJnJvJA= ףD@AIG9D@A\~? A}A%"AAcrNA"AZAbAjArAzAAA]sU0@A@tAb@A`.A»Ac>AC?AV?Af.*A F:?2Aӽ:AЃBA F:?JAӽRAЃ٘i)I9b@Y G JY[JJJJ F&K YO\~?y@A Fj7{79)3B[[ I|>[G[~?[2ު[[[[ZZBZYY i) %nIi_?W< ?))??(YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039951.563165 s, next control iter: 1743039951.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13450, header.stamp.nsec: 00 temperature: 13.569623* salinity: 33.375366, density: 1025.000000* values[0]: 0.569937F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039951.963165 s.uJ~,s+AAffff&E@AÙ_E@A\~? A A %"AArNA"AZAbAjArAzAAAM0@A#^>tAWTb@A[޶AAf>AS?A` ?A!λ*A 9:?2A\Խ:A+<BA 9:?JA\ԽRA+!>y趺ٓH |;?`޿?=?'@ߔ?V@J?)> I٘i)I9Tb@Y G JAB=JDJJJ F&K`r> YM(\~?yAA> F77j79GB)4BڹE[[om>[ \~?[0ܪ[[[[ZZBZYY i5r=) [Iil?J< I?))}qI?I?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039951.983165 s, next control iter: 1743039952.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039952.383165 s.J~,<t+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.236319> elevatorAngleAction: 0.059133< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743039952.383296F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\E@AϾ OE@A]~? A As@%"AArNA"AZAbAjArAzAAA-* 0@AZ'0[{%\~?[ڪ[[[[BZYY iI =) kIIiS?r#?< W;?))X7W;?W;?6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039952.403165 s, next control iter: 1743039952.783180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13451", header.stamp.nsec: 0"0 temperature: 13.569626"* salinity: 33.375374", density: 1025.000000"* values[0]: 0.569717"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039952.803165 s.{A J~,g3t+AAE@A$a߄E@AT]~? AA9y%"AArNA"AZAbAjArAzAAAb#31@A]:tA6b@Af[<A!7Ao?A?Az?AtB;*AD:?2AJoӽ:ABAD:?JAJoӽRA漙٘i)I96b@Y G JU9JJJJ F&K Y@Z\~?yBLAA F{7j72#9EB)E[[B>[+>\~?[ת[[[[BZYY i) 7Ii?|4< ؋?)) ؋?؋?lu*YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743039952.823165 s, next control iter: 1743039953.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039953.223165 s.gJ~,HNt+AJ"J*J2J:JBJnJvJAzE@AE@A]0]~? AA%"AA rNA"AZAbAjArAzAAAma|1@Ae8tAXb@A$8<A[\AI ?Aߘ?A?A;*AD:?2Aaӽ:ABAD:?JAaӽRA٘i)I9Xb@Y G J;JJJJ F&K Y;s\~?yhAA Fŧ7b7$9BB)/BE[[ͧ>[V\~?[ժ[[[[BZYY i) %Ii?a(+< Z{?))Z{?Z{?y#=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039953.263165 s, next control iter: 1743039953.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039953.643165 s.wJ~, *it+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069848< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743039953.643292F (some fields omitted in printout)A ףpE@AڐfE@A4H]~? AA%"AAmsNA"AZAbAjArAzAAAmǗN1@A6+6tAb@AF;AH{A?A i?A=?Am4<*A>:?2Aӽ:A9~BA>:?JAӽRA9~٘i)I9b@Y G J<B=JJJJ F&K Y9\~?yAA F7777&9)-B[[l>[o\~?[iҪ[[[[BZYY i) AIio~?"< "?))"?"?*YYtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13452, header.stamp.nsec: 00 temperature: 13.569475* salinity: 33.375389, density: 1025.000000* values[0]: 0.569831F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743039953.663165 s, next control iter: 1743039954.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039954.063165 s. J~, t+AJ"J*J2J:JBJnJvJA33333F@Ab)&F@A_]~? A A4%"AAl?sNA"AZAbAjArAzAAA@DL 2@A%v4tAb@AA艽AŦ?A 7?A`]?ASn<*AR9:?2A ӽ:A-BAR9:?JA ӽRA-YY>|?y牽8ٓHh?@C ]@?ϝ?+9?`gv| I٘i)I9b@Y G JO<C=JJJJ F&Kq> Y\~?yAA? Fŧ7b7(9AB))BE[[>[Շ\~?[Ϫ[[[[BZYY ih=) 7Iij?N< (?)).hs(?(?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039954.083165 s, next control iter: 1743039954.463182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743039954.483165 s.y_'J~,t+AA\hF@A[F@A>w]~? AA y%"AAcsNA"AZAbAjArAzAAAICS2@AyHw2tAYc@AB[A!5A?A`?A1?Ai+<*An4:?2A/lԽ:ABAn4:?JA/lԽRA٘i)I9Yc@Y^ G JA<JJJJ F&K Y1\~?y+=BA F777\*9@B)%BE[[Gv>[\~?[̪[[[[BZYY i) .IiX? < e?))<e?e?*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743039954.503165 s, next control iter: 1743039954.883182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13453, header.stamp.nsec: 00 temperature: 13.569237* salinity: 33.375431, density: 1025.000000* values[0]: 0.570258F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039954.903165 s.-J~,͹t+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.257791> elevatorAngleAction: 0.056780< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743039954.903306F (some fields omitted in printout)AQF@ASͬF@Aj]~? AA%"AAfsNA"AZAbAjArAzAAA^2@A&bDBY0tA:c@AQAAA] ?Aj?A?Ax<*AlU:?2AHҽ:ABAlU:?JAHҽRA٘i)I9c@Y G J<JJJJ F&K Y\~?yFܪBA F)7ŧ7',9?B) BE[[>[O\~?[_ɪ[[[[BZYY i) 'ʻIiH?ҍ< ?)) ??!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039954.923165 s, next control iter: 1743039955.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039955.323165 s.y4J~,2t+AAGzF@ABsF@AY]~? AA %"AA\sNA"AZAbAjArAzAAAЬj 2@AgdZ-tAed@A}1AA%?A ӓ?A`?A}<*A^:?2Aӽ:A9BA^:?JAӽRA9٘i)I9ed@Y G J<JJJJ F&K Y.\~?ybתBA F777-9)B[[c>[\~?[Ū[[[[BZYY i) Y"Ii:?; F?))F?F?yh=c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039955.343165 s, next control iter: 1743039955.723180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13454*, header.stamp.nsec: 0*0 temperature: 13.568865** salinity: 33.375446*, density: 1025.000000** values[0]: 0.570943*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039955.743165 s.W;J~,t+AJ"J*J2J:JBJnJvJAףp= G@Aܛ0F@A]~? AAV%"AAsNA"AZAbAjArAzAAAo#3@A+tA7d@A ۖ;AqqA8F+?A/Y?A[?AW<*A3b:?2AfԽ:A BA3b:?JAfԽRA ٘i)I9d@YZ G J<JJJJ F&K Y]~?y~ҪSCA Fb77/9>B)BE[[c>[\~?[oª[[[[BZYY i|=) = Ii-?; s?))s?s?,*YoYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039955.763165 s, next control iter: 1743039956.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039956.163165 s.z}BJ~,q u+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066156< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743039956.163270F (some fields omitted in printout)A@G@A<2G@Au]~? AA%"AA)sNA"AZAbAjArAzAAA)g3@Az+)tAMe@AuI<Ay*Aw0?A?AJ?AS<*Ae:?2ALս:AǑBAe:?JALսRAǑYd>L\0?yw'] J<ٓH?@]婿H?e?`/`?`v.??)d> I٘i)I9e@Y G J<JAJJJ F&Ks> Yv]~?y̪CA\0? Fŧ7b719:B) BE[[\>[?]~?[þ[[[[BZYY i) #\Ii?@ ; ,?))G3u,?,?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039956.183165 s, next control iter: 1743039956.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039956.583165 s.HJ~, S%u+AJ"J*J2J:JBJnJvJA)\uG@A5hG@A]~? AA>%"AAtNA"AZAbAjArAzAAAw (3@Aqf&tAf@A]<AiAG5?Ao?A`Q?AH<*AVc:?2Amս:ABVBAVc:?JAmսRABV٘i)I9f@Y G J<JJJJ F&K YA-]~?yLǪ#DA Fb77R39) B[[%>[]~?[溪[[[[BZYY i) IiA ?"; mѣ?))mѣ?mѣ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039956.603165 s, next control iter: 1743039956.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13455, header.stamp.nsec: 00 temperature: 13.568480* salinity: 33.375431, density: 1025.000000* values[0]: 0.571708F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039957.003165 s.z PJ~,U4@u+AARG@A yG@A{]~? AA,M%"AAX1tNA"AZAbAjArAzAAA\F3@AhV#tAf@Axl;AA:?A?Ag'?A-:<*A:?2A6ӽ:AsBA:?JA6ӽRAs٘i)I9f@Yd G J<JJJJ F&K Y C]~?yDA F77598B)BE[[%?[P/]~?[ٶ[[[[BZYY i) \ǺIi&>ם; ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039957.043165 s, next control iter: 1743039957.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039957.423165 s.J "J *J 2J :J u?BJ u?nJ 5vJ 0uVJ~,[u+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066156< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743039957.423337F (some fields omitted in printout)A{GG@ARy;G@A^~? AܫAŤ%"AALRtNA"AZAbAjArAzAAA÷.4@A tAv=g@A A1A[??A W?Ag?A<*A:?2Aӽ:A8BA:?JAӽRA8٘i)I9=g@Y G Jl<JJJJ F&K YX]~?yDA Fb77697B)BE[[} ?[F]~?[[[[[BZYY i) Iic>8ى; F?))F?F?ydw=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039957.463165 s, next control iter: 1743039957.823175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13456, header.stamp.nsec: 00 temperature: 13.568093* salinity: 33.375458, density: 1025.000000* values[0]: 0.572481F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039957.843165 s.\J~,uu+AAp= H@A, H@A])^~? A׫A%"AArtNA"AZAbAjArAzAAA'Io4@A tAqg@A1A A D?A?A w?A<*A:?2AGԽ:AN~BA:?JAGԽRAN~٘i)I9g@Y G J<JJJJ F&K Yn]~?y[EA F7789)B[[?[]]~?[0[[[[BZYY i) 4U9IiD>!t; ?))??(*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039957.863165 s, next control iter: 1743039958.243181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039958.263165 s.dJ~,#ؐu+AJ"J*J2J:JBJnJvJALH@A?H@A\>^~? A ӫA[%"AAtNA"AZAbAjArAzAAAAt4@A=0tA]h@A]bAMA[I?A@?A'f?A<*AR}:?2AԽ:AxBAR}:?JAԽRAxY]?J?y]JxcٓH }?@ѯ,B@? D?@d ? ]`+?)]? I٘i)I9]h@Yl G J<Ja<JJJ F&K9t> Y]~?yCEAJ? F}:96B)BE[[w?[t]~?[[[[[BZYY i) D; î?))wî?î?j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039958.283165 s, next control iter: 1743039958.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 134572, header.stamp.nsec: 020 temperature: 13.5677272* salinity: 33.3754772, density: 1025.0000002* values[0]: 0.5732422F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039958.683165 s.ljJ~,ku+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242042> elevatorAngleAction: 0.066156< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743039958.683286F (some fields omitted in printout)A(\H@AmWuH@A S^~? AΫA%"AAtNA"AZAbAjArAzAAA &4@A?tA*h@AAAO?A@ς?A)&?Aա<*Az:?2Aս:AFBAz:?JAսRAF٘i)I9h@Y G Jإ<JJJJ F&K Yn]~?yFA F77{7G<92B)BE[[ ?[@]~?[浪[[[[BZYY i) U;Iip>; ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039958.683165 s, next control iter: 1743039959.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743039959.103165 s.qJ~,u+AJ"J*J2J:JBJnJvJAQH@AIH@Afg^~? AɫA%"AAtNA"AZAbAjArAzAAAx]+5@A;ĊtAni@Aj?A?-AVT?A4?AT?A<*A/:?2AԽ:A]BA/:?JAԽRA]I٘i)I9ni@YG J0<B=JJJJ F&K YV]~?yã|FA Fb77>9)B[[Ɉ?[]~?[[[[[BZYY i) M;Ii3>: RL?))RL?RL?"*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039959.143165 s, next control iter: 1743039959.503177 s, wait time: 0.360012 sV]~?)ã rAdjusting time to match Gazebo time: 1743039959.523165 s.wJ~,|u+AAHzH@Ad9 H@Al{^~? AëA%"AABtNA"AZAbAjArAzAAAah5@AQtAi@A<ACFAY?A-?A?A <*A|:?2A6>ս:ABA|:?JA6>սRA󼙘٘i)I9i@Y^G J<C=JJJJ F&K Y:]~?yFA F7?91B)BE[[ %?[]~?[ꚪ[[[[BZYY i) @;Iii=]u+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066156< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743039959.943280F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #I@AJI@A^~? A|A%"AA_uNA"AZAbAjArAzAAAK25@AtA@dj@AѪc<AA^?A?AO[?A:<*A:?2A#ս:A.BA:?JA#սRA.𼙘٘i)I9dj@YG J"<JJJJ! F&K Y ]~?yCv+AAYI@A)LI@Ap^~? A AP%"AA+uNA"AZAbAjArAzAAAnT[5@Aa< tAj@A 7<AAc?AEG?A?APa<*A:?2Aֽ:ABA:?JAֽRAY +?c?y h7<ٓH?? ? ?`b??) +? I٘i)I9j@YG J<J/<JJJ# F&K[u> Y]~?ykGAc? F77j7rC9)ٯB[[V0?[r]~?[=[[[[BZYY i=) h5;Ii<F8 R?))8{R?R?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039960.403165 s, next control iter: 1743039960.763180 s, wait time: 0.360015 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13459&, header.stamp.nsec: 0&0 temperature: 13.567019&* salinity: 33.375496&, density: 1025.000000&* values[0]: 0.574604&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039960.783165 s.XJ~,2v+AJ"J*J2J:JBJnJvJA(\I@AO7PI@Ak^~? AwAB%"AAIuNA"AZAbAjArAzAAA6@AK3tANk@A(;AoAt i?A@?A^?A<*A:?2Aֽ:A BA:?JAֽRA ٘i)I9Nk@Y6G J‹<JJJJ$ F&K Y]~?yGA F77=E9+B)ЯBE[[_5?[]~?[[[[[BZYY i) ]o;II?iQ_) `q?)) `q?`q?ɵ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039960.803165 s, next control iter: 1743039961.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039961.203165 s.J~,Mv+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077397< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743039961.203335F (some fields omitted in printout)AQI@AAI@A^~? AǭA*%"AAeuNA"AZAbAjArAzAAA2uPP6@Aj\tAk@A-AvnAm?A`?AU?AL<*A:?2A&Խ:ABA:?JA&ԽRA٘i)I9k@Y~G JQ<JJJJ& F&K Y~^~?yKHA Fb77G9(B)ɯB[[;?[ ^~?[ㄪ[[[[BZYY i)  elevatorAngleAction: 0.077397< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743039962.463284F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffffJ@Aw\YJ@A^~? A AՀ%"AAuNA"AZAbAjArAzAAAYq6@Am%sA&m@AAAA}?A+?A?A*'<*Atq:?2Aֽ:ABAtq:?JAֽRAYbE?}?yMOٓH? Q@Y?A?q2=?`4HtM?)bE? I٘i)I9&m@YVG J<B=J얻JJJ* F&Kv> Y:^~?ym[IA}? F{7{7hL9"B)B E[[L?[J^~?[r[[[[BZYY i) _/ elevatorAngleAction: 0.077397< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743039963.723278F (some fields omitted in printout)AzK@AǵJ@A/_~? ATA%"AA{vNA"AZAbAjArAzAAAs@^7@AT`$sAn@AX<A˒A?A ?A?At<*Ai:?2Aֽ:AiCBAi:?JAֽRAiC٘i)I9n@Y+G J<JJJJ. F&K Yi^~?yWqJA FQ9)B[[&^?[P^~?[^[[[[BZYY i) ^ Y^~?yfH5KA? F77]U9B)BE[[|i?[^~?[P[[[[BZYY i) |w+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.251987> elevatorAngleAction: 0.077397< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743039964.983282F (some fields omitted in printout)J"J*J2J:JBJnJvJA\K@A&NK@A]_~? AuAf%"AAKvNA"AZAbAjArAzAAA;8@A)$sA6p@A:A@AM=?A?A_i?AL<*AQ:?2Aս:AfBAQ:?JAսRAf٘i)I9p@YG J<JJJJ2 F&K Y^~?y@KA F77{7(W9B)BE[[o?[^~?[I[[[[BZYY i)  elevatorAngleAction: 0.086793< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743039966.243288F (some fields omitted in printout)Aףp=JL@Av5=L@A;_~? AHaA%"AAvNA"AZAbAjArAzAAAI8@AVsA,q@Aʏ9AŁA?A@e>?A /?A0<*A%L:?2Atֽ:A8BA%L:?JAtֽRA8٘i)I9q@Y&G Jj<JJJJ6 F&K Y^~?y%)LA F~77\9B)BE[[?[^~?[3[[[[BZYY i) Ώ Y^~?y ;MA? F77R^9)B[[v?[^~?[F+[[[[BZYY i) / elevatorAngleAction: 0.086793< massPositionAction: 0.0000004 buoyancyAction: 0.000500J dt: 0.419967"J*J2 time: 1743039967.5032922JF (some fields omitted in printout):JBJnJvJARL@AVyL@Az_~? ALA%"AAvNA"AZAbAjArAzAAA~* 9@AesA\zs@A/&.<AqPA ?Aȷ?AE?A <*A,:?2A ׽:AE|BA,:?JA ׽RAE|٘i)I9zs@Y0G J<JJJJ: F&K Y^~?yNA F{7a9B)yBE[[ᬉ?[,_~?[H[[[[BZYY i)  elevatorAngleAction: 0.086793< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743039968.763289F (some fields omitted in printout)ǍM@A5M@A~_~? A<6A6%"AAvNA"AZAbAjArAzAAA)wr9@Ax%dsAZu@Au^AjAޡ?A-&?Az?A<*A:?2Aqֽ:AҋBA:?JAqֽRAҋY?ǥ?yInE_ٓHZ? uᒢ@*?|?@gʵ?΋?)? I٘i)I9Zu@YTG J<JJJJ> F&Kx> YJ^~?yaOAǥ? F)7ŧ7Hg9B)fBE[[?[?_~?[J[[[[BZYY i)  elevatorAngleAction: 0.086793< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743039970.023318F (some fields omitted in printout)AHz.N@A2: !N@A&_~? AA%"AA*wNA"AZAbAjArAzAAAF9@A ;sAaw@A0;A/"A2?Au?A?A<<*A9?2At׽:ABA9?JAt׽RA٘i)I9aw@YG Jl<JJJJB F&K YS _~?ydީPA F77l9)RB[[?[b_~?[>[[[[BZYY i) BZYY i¸>t) x+AJ"J*J2J:J?BJ?nJ)5vJAN@AdN@Ag_~? AA%"AAEwNA"AZAbAjArAzAAA& Y_~?yDͩQAٲ? Fŧ7ŧ7=p9 B)CBE[[?[u_~?[`֩[[[[ZZZZBZYY i) 1,h:@ALᔙsAG|@AӡAۼAҿ?A?A4?Ad<*A:?2A$ֽ:A:BA:?JA$ֽRA:Yͣ?Rٿ?yۼٓH@Mg?s1`?u?@k֚Js?(~?)ͣ? I٘i)I9|@YG J<JC>JJJK F&Kw> Yb._~?yӡSAٿ? F773y9)!B[[?[_~?[[[[[ZZZZBZYY i) x%%"AAwNA"AZAbAjArAzAAA؆:@A[+ChsA}@Ae5<AU;A?AX?A`"?A6F%<*AA:?2A4ֽ:A}<BAA:?JA4ֽRA}<٘i)I9}@YVG J[<JJJJN F&K Yt2_~?y9 TA F77|9)B[[ Ƿ?[_~?[ [[[[ZZZZBZYY i) nJJJR F&K8x> Y5_~?yuTA? Fb7(9)[[w;?[_~?[x[[[[BZYY i<j) 4`~? AA]&"AAwNA"AZAbAjArAzAAAXW4:@A>T`sA|@A:A꜑=ApQ?A?Amz?A*A9?2Aֽ:AI=BA9?JAֽRAI=٘i)I9|@YG JrJJJJW F&K YL2_~?yR.SA Fb7b7S9)B[[?[_~?[Q[[[[BZYY i) ;I ,G?ir 9@))9@9@ ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039976.763165 s, next control iter: 1743039977.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039977.163165 s.y}J~,qJz+AAQ@ASQ@A@?`~? AkA%&"AAwNA"AZAbAjArAzAAA -0v:@AK۫[sA{X|@A;AIL=A?A`d?A|?A'*Ay9?2Agֽ:A=BAy9?JAgֽRA=Yzٽ??yWK=l;ٓH 4g`̢?@?`Oy|?`)?)zٽ? I٘i)I9X|@YG JpJp=JJJY F&Kw> Y._~?yIRA? F7779)BE[[}?[_~?[TG[[[[BZYY i) P\;IFG?i3jLw X@))X@X@WѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039977.183165 s, next control iter: 1743039977.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039977.583165 s.J~,Rez+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743039977.583282F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\Q@A裌Q@AP?`~? AVA&"AAwNA"AZAbAjArAzAAA|nr:@ASVsA{@A6W<A=A`?AxA|?AL*A9?2AKEֽ:A=BA9?JAKEֽRA=٘i)I9{@YCG JJJJJZ F&K Y*_~?yAaRA Fŧ77茸9)#B[[A?[0_~?[=[[[[BZYY i) i;I>G?iÿez @))@@AתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039977.603165 s, next control iter: 1743039977.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13476, header.stamp.nsec: 00 temperature: 13.562549* salinity: 33.375595, density: 1025.000000* values[0]: 0.584291F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039978.003165 s.~ J~,e4z+AAR+R@Ad:tzR@A>`~? ABA`&"AAQwNA"AZAbAjArAzAAAŚ:@ATR@A=`~? A/Ae&"AA?wNA"AZAbAjArAzAAA-ݔ:@AHLsA6z@A_;AE=A?A`pA u?AN*A9?2ALֽ:A=BA9?JALֽRA=٘i)I9z@YG JٳJJJJ] F&K Y|#_~?y/QA F{7j7~9B)+BE[[H?[#_~?[*[[[[BZYY i) 8CS;IF?iEſR|  @)) @ @1۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039978.443165 s, next control iter: 1743039978.823182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13477, header.stamp.nsec: 00 temperature: 13.562812* salinity: 33.375610, density: 1025.000000* values[0]: 0.583603F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039978.843165 s.ݬJ~,z+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200722 time: 1743039978.843343F (some fields omitted in printout)Ap= R@Ai-R@AR<`~? AyA&"AA\wNA"AZAbAjArAzAAA*:@A72GsAz@A AȞ=Ab?A,An?Aﲼ*AH9?2AW#׽:A? =BAH9?JAW#׽RA? =٘i)I9z@Y1G J<JJJJ^ F&K Y_~?y&.QA F7)7H9)0B[[?[r_~?[d [[[[BZYY i) ;IF?i}Ŀc{ @))@@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039978.863165 s, next control iter: 1743039979.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039979.263165 s.J~,z+AJ"J*J2J:JBJnJvJAR@ASy;¿R@AA:`~? AqAs9&"AAwNA"AZAbAjArAzAAA8:@A,c CsAyy@A$GAx=A?ACAe?A*A9?2AtS׽:Ao=BA9?JAtS׽RAo=Yc??yu= HٓHͿ@eh@/ ?@Ϳ2l?`Ԯ{#?)c? I٘i)I9yy@YG J@J;JJJ_ F&Kx> YA_~?yWPA? F)7ŧ79)4B[[)?[_~?[[[[[BZYY i) [:IUF?iǿ~ +!@))+!@+!@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039979.283165 s, next control iter: 1743039979.663176 s, wait time: 0.380011 s6tReceived state from Gazebo (printed only once in a while):62 header.stamp.sec: 134786, header.stamp.nsec: 060 temperature: 13.5631116* salinity: 33.3755806, density: 1025.0000006* values[0]: 0.5828926F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039979.683165 s.lJ~,^z+AA(\S@AŋR@A7`~? AiA&"AA(wNA"AZAbAjArAzAAAxKȪ:@A*u >sAx@AiYA1 =Ab?AŴA`X?A!˯*AR9?2AA׽:A %=BAR9?JAA׽RA %=٘i)I9x@Y|G J^JJJJa F&K Y_~?y[PA Fb77ޕ9)9B[[.?[_~?[ [[[[BZYY i) X9IǗF?iyȿM "@))"@"@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039979.683165 s, next control iter: 1743039980.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743039980.103165 s.J~,Ú{+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743039980.103326F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8S@A}F+S@A4`~? A`As&"AAڟwNA"AZAbAjArAzAAA}M:@A.;9sA Qx@AaA=A:?A &AJ?At*A9?2Aֽ:Aׅ=BA9?JAֽRAׅ=٘i)I9Qx@Y"G JJJJJb F&K Y1 _~?y7 OA F79B)>BE[[_?[_~?[[[[[BZYY i) кI/F?iȿ󍀼 GO$@))GO$@GO$@1ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039980.123165 s, next control iter: 1743039980.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039980.523165 s.J~,|!{+AAHznS@A,,aS@A0`~? AXA &"AAwNA"AZAbAjArAzAAAId<:@AՏX4sAaw@AW;A_ė=A5?A*NA %9?A*A9?2Aֽ:A:=BA9?JAֽRA:=٘i)I9w@YG JJJJJc F&K Y_~?yOA F77j7s9)CB[[?[_~?[[[[[BZYY i) ıIlF?i0ȿ M%@))M%@M%@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039980.563165 s, next control iter: 1743039980.923179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13479, header.stamp.nsec: 00 temperature: 13.563400* salinity: 33.375595, density: 1025.000000* values[0]: 0.582178F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039980.943165 s.ZdJ~,J]<{+AJ"J*J2J:J ?BJ ?nJF5vJAq= ףS@AUQʖS@A,`~? AQA &"AAߔwNA"AZAbAjArAzAAAF|:@A] 3z/sAA'w@A1<A=AE?A|A%?A*A9?2Aoֽ:A=BA9?JAoֽRA=٘i)I9'w@YlG JJJJJe F&K Y"^~?yOA F)7ŧ7>9)HB[[?[q|_~?[[[[[BZYY i) ISWF?ipƿ;~ (x'@))(x'@(x'@sͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039980.963165 s, next control iter: 1743039981.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039981.363165 s.J~,>W{+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743039981.363328F (some fields omitted in printout)AS@A>S@A(`~? AIAG &"AA3wNA"AZAbAjArAzAAA:d{:@Au*sAv@A^<A(;=AE?A A?Av*A9?2A(vֽ:Ag=BA9?JA(vֽRAg=Y?$?y7=9`_<ٓH`տ9Գ@$?@Կ ;d?Bً?_?)? I٘i)I9v@YG JB=JYJJJf F&K@x> Y^~?yNA? Fŧ77 9)LB[[C?[)s_~?[0[[[[BZYY i) QIAF?iǿ  )@)) )@ )@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039981.383165 s, next control iter: 1743039981.763177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13480*, header.stamp.nsec: 0*0 temperature: 13.563684** salinity: 33.375580*, density: 1025.000000** values[0]: 0.581467*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039981.783165 s.^J~,r{+AJ"J*J2J:JBJnJvJA(\T@APT@A"`~? A%AA &"AAwNA"AZAbAjArAzAAAik:@Al%sA@v@AfK<ABP=Aہ?A SÿA`?A,*A9?2Aeֽ:A=BA9?JAeֽRA=٘i)I9v@YG JC=JJJJg F&K Y^~?yuYNA F7777Ӟ9B)RB E[[j"?[ i_~?[ݨ[[[[BZYY i) ID,F?izȿ>N *@))*@*@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039981.803165 s, next control iter: 1743039982.183184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743039982.203165 s.J~, {+AAQET@AF~8T@A`~? AC9A| &"AA}~wNA"AZAbAjArAzAAAYz5?Z:@AvP sA}{u@AB:ӸA=A2?A`ſA ?Aݝ*A9?2A$ ׽:A<BA9?JA$ ׽RA<٘i)I9{u@YhG JǢJJJJi F&K Y@^~?y$MA Fb779)VB[[S?[X^_~?[Ԩ[[[[BZYY i) IF?iǿ= /,@))/,@/,@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039982.223165 s, next control iter: 1743039982.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039982.623165 s.WJ~,]{+AJ"J*J2J:JL4?BJL4?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066491< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743039982.623288F (some fields omitted in printout)AGzT@AJVmT@A`~? Aj1A &"AAquwNA"AZAbAjArAzAAA:LG:@Ad"0sAt@A4A9z=A+?A XǿA8?A@ȕ*A9?2A;J׽:A<BA9?JA;J׽RA<٘i)I9t@YG J2JJJJj F&K Y^~?yڨMA F7{7h9)ZB[[?[R_~?[˨[[[[BZYY iu) LĻIvF?i<ƿ} -@))-@-@־YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743039982.643165 s, next control iter: 1743039983.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13481 , header.stamp.nsec: 0 0 temperature: 13.384857 * salinity: 33.391602 , density: 1025.000000 * values[0]: 0.704290 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039983.043165 s.J~,{+AA= ףT@AT@A`~? A)Ak &"AAkwNA"AZAbAjArAzAAA 2:@AllsAk~t@A(`Aڈ=A܇?A.gɿA*?A|*AM9?2AS׽:A<BAM9?JAS׽RA<٘i)I9~t@YG JJJJJk F&K Y^~?yҨ2MA F77j739)^B[["?[F_~?[y¨[[[[BZYY i) 4BIpE?iÿBz Y/@))Y/@Y/@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039983.063165 s, next control iter: 1743039983.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039983.463165 s.VJ~,{+AJ"J*J2J:J*4?BJ*4?nJ<5vJAffffT@AݔZT@A`~? A!ArG &"AA`wNA"AZAbAjArAzAAA0Q:@A nsAt@A,1A!=AF@A=˿A |?A*A9?2A$׽:AJ<BA9?JA$׽RAJ Y^~?yʨLA@ F{79B)cBE[[p@[9_~?[[[[[BZYY i) <0IZE?iĿ9{ 0@))0@0@zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039983.483165 s, next control iter: 1743039983.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13482, header.stamp.nsec: 00 temperature: 13.385078* salinity: 33.391640, density: 1025.000000* values[0]: 0.703240F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039983.883165 s.yJ~,/{+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075420< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743039983.883272F (some fields omitted in printout)A(U@A)U@A`~? A"A &"AAUwNA"AZAbAjArAzAAAR-:@AAyu sAאs@AֆA#~=Af@AN ͿAW?Al*A9?2A&ֽ:Az<BA9?JA&ֽRAz<٘i)I9s@Y=G JJJJJn F&K Y^~?y¨|LA Fɧ9)gB[[@[,_~?[[[[[BZYY i) {IQE?iÿU`z ~2@))~2@~2@y`eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039983.923165 s, next control iter: 1743039984.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039984.303165 s.VJ~,wg|+AJ"J*J2J:J3?BJ3?nJ<5vJAQU@AuDU@A_~? AyAt&"AAyIwNA"AZAbAjArAzAAA9@A$M sAs@A)Q;Ap=AC@A`οA@0?A)됼*A`9?2Aֽ:A |=BA`9?JAֽRA |=٘i)I9s@YG J㎼JJJJo F&K YȬ^~?y LA F79B)lBE[[@[_~?[[[[[BZYY i) 3M IuE?i ¿bx 4@))4@4@7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039984.323165 s, next control iter: 1743039984.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13483., header.stamp.nsec: 0.0 temperature: 13.385309.* salinity: 33.391651., density: 1025.000000.* values[0]: 0.702257.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039984.723165 s. J~,H.|+AAzU@AyazU@A_~? A A &"AA9@A=J< sA("r@A#G<A=A@A4ѿA?Amݓ*A^9?2Aֽ:A=BA^9?JAֽRA=٘i)I9"r@Y^G JC=JJJJr F&K Yܔ^~?yiKA F77{7)9)tBE[[@[,^~?[[[[[BZYY i) =k?IE?iSp ;7@));7@;7@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039985.163165 s, next control iter: 1743039985.543181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039985.563165 s.J~,F d|+AA3333U@AV*U@A_~? AA0&"AA wNA"AZAbAjArAzAAAyY9@AQyrAgq@A;A=A8@A@qҿAN?Afy*A9?2A<ֽ:A£=BA9?JA<ֽRA£=Y?|@y=-Z;ٓHb@w@e?j ? Yr?P?)? I٘i)I9q@YG JIB=J;JJJs F&KNx> Y\^~?y KA@ F{79B)zBE[[`@[^~?[[[[[BZYY i) NIpE?iao !8@))!8@!8@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039985.583165 s, next control iter: 1743039985.963175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13484, header.stamp.nsec: 00 temperature: 13.385542* salinity: 33.391670, density: 1025.000000* values[0]: 0.701199F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039985.983165 s.J~,~|+AJ"J*J2J:JBJnJvJA\(V@AձJV@A_~? AeA&"AAewNA"AZAbAjArAzAAAl̄x9@A>:rA+q@AK|A=Ay[@AҿA`+|?Aaꐼ*A9?2Aq/׽:Av=BA9?JAq/׽RAv=٘i)I9+q@YG JƑC=JJJJu F&K Yw^~?yJA F779)~B[[ @[^~?[m[[[[BZYY i) :^I\E?i򹿉n 5_:@))5_:@5_:@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039986.003165 s, next control iter: 1743039986.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039986.403165 s.&&J~,͙|+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075420< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743039986.403310F (some fields omitted in printout)AQ^V@AQV@A_~? A AS&"AAwNA"AZAbAjArAzAAAW9@A"3LsrALp@AsKAA=As @AӿA@H?AF*A9?2AU׽:A6=BA9?JAU׽RA6=٘i)I9p@Y~G JǐB=JJJJv F&K Y[i^~?yLJA FSI7SI79 B)BE[[ @[a^~?[a~[[[[BZYY i) PmIHE?isj ;@));@;@bȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039986.443165 s, next control iter: 1743039986.803180 s, wait time: 0.360015 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13485", header.stamp.nsec: 0"0 temperature: 13.385760"* salinity: 33.391655", density: 1025.000000"* values[0]: 0.700172"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039986.823165 s.,J~,S|+AJ"J*J2J:JBJnJvJAGzV@ARrV@A_~? AA&"AAvNA"AZAbAjArAzAAA{k59@AbrA-7p@ATAQ=A @A YԿA H?A֔*A9?2AP;׽:A=BA9?JAP;׽RA=٘i)I97p@Y3G JC=JJJJx F&K YZ^~?yaIA F777T9)BE[[ @[E^~?[v[[[[BZYY i)  }Iv5E?i泿Ff Ȅ=@))Ȅ=@Ȅ=@z˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039986.863165 s, next control iter: 1743039987.223183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743039987.243165 s.3J~,y|+AAףp=V@A\5V@A_~? AީAo&"AAvNA"AZAbAjArAzAAA\?Z9@A+:rAo@AۻAM=A}E @AտA?A**A&9?2AOֽ:AA =BA&9?JAOֽRAA =٘i)I9o@YG JHJJJJy F&K Y\L^~?y҄IA F779 B)BE[[@[^~?[n[[[[BZYY i) :I"E?iNc` ?@))?@?@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039987.263165 s, next control iter: 1743039987.643181 s, wait time: 0.380016 s\L^~?)҄ rAdjusting time to match Gazebo time: 1743039987.663165 s.:J~,q|+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743039987.663299F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13486, header.stamp.nsec: 00 temperature: 13.386015* salinity: 33.391678, density: 1025.000000* values[0]: 0.699171F (some fields omitted in printout)AW@AzV@AȤ_~? AdשA&"AAsvNA"AZAbAjArAzAAAp8@AP==rA5o@AL;A/=A҆ @A`gֿA?A*A9?2Aֽ:A/=BA9?JAֽRA/=Y ? @y=WM;ٓH Ke?@ Y{;^~?y}&IA @ F777鷸9)B[[:A@[T^~?[7g[[[[BZYY i) ōIE?iʼ^ w@@))w@@w@@y묽ZӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039987.683165 s, next control iter: 1743039988.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039988.083165 s.EAJ~,.S}+AA)\5W@A(W@A&_~? ATЩA&"AAvNA"AZAbAjArAzAAAY#8@Ah8rAn@AY9<A=A@A t:׿A`4g?A7*A9?2ADJֽ:Ay=BA9?JADJֽRAy=٘i)I9n@YBG J]JJJJ| F&K Y*^~?yvHA Fŧ7b79B)BE[[@[}^~?[_[[[[BZYY i) OIsD?i[ A6B@))A6B@A6B@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039988.103165 s, next control iter: 1743039988.483187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743039988.503165 s.GJ~,P4 }+AJ"J*J2J:J2?BJ2?nJ;5vJARkW@AOwx^W@A_~? AYɩA&"AA;vNA"AZAbAjArAzAAAgu8@AۈrAn@A9_<An=A@A ؿA`p)?A_*Aط9?2A6Mֽ:A}=BAط9?JA6MֽRA}=٘i)I9n@YG J_JJJJ} F&K Y^~?yoXHA F77~9B)BE[[b@[!l^~?[X[[[[BZYY i) ۜIXD?iHfW WC@))WC@WC@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039988.543165 s, next control iter: 1743039988.903179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13487, header.stamp.nsec: 00 temperature: 13.386260* salinity: 33.391682, density: 1025.000000* values[0]: 0.698033F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039988.923165 s.9NJ~,;}+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743039988.923291F (some fields omitted in printout)A{GW@A'>W@A}_~? At©Am&"AAvNA"AZAbAjArAzAAAz^hv8@A#urAm@A<Aע=Ah@AؿA?A\*A9?2A ֽ:A!=BA9?JA ֽRA!=٘i)I9m@YG J篼B=JJJJ~ F&K Y^~?yhGA F77{7I9B)BE[[z@[LW^~?[Q[[[[BZYY i) eID?i٣Q .VE@)).VE@.VE@ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039988.963165 s, next control iter: 1743039989.323180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039989.343165 s. Y]~?y[GA@" F77{79B)BE[[ @[/,^~?[C[[[[BZYY i) rHID?i=G qH@))qH@qH@jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039989.783165 s, next control iter: 1743039990.163181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039990.183165 s.bJ~,Z}+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743039990.183307F (some fields omitted in printout)A(\BX@AS5X@A6R_~? AOA#&"AARvNA"AZAbAjArAzAAAK7@A)rAzk@Ai:_A)=Ao@A DۿA`?A*Aɤ9?2A;׽:A%T=BAɤ9?JA;׽RA%T=٘i)I9k@Y}G J&JJJJ F&K Y]~?yTFA$ F7ŧ7¸9)B[[W@[^~?[j=[[[[BZYY i) 1IrD?iC k!H))k!HJI@1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039990.203165 s, next control iter: 1743039990.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039990.603165 s.74iJ~,}+AAQxX@A5EkX@AB_~? AɧA&"AA;vNA"AZAbAjArAzAAAڥb7@A=9.rA%k@A5)AVǭ=A@AܿA@?Au*A9?2ANֽ:A =BA9?JANֽRA =٘i)I9%k@YG J|JJJJ F&K Y]~?yN7FA% Fŧ7b7tĸ9B)BE[[[#@[']~?[7[[[[BZYY i) ;IrD?iהs> F))FK@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039990.643165 s, next control iter: 1743039991.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13489 , header.stamp.nsec: 0 0 temperature: 13.386829 * salinity: 33.391697 , density: 1025.000000 * values[0]: 0.695631 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039991.023165 s.ZpJ~, |}+AJ"J*J2J:JBJnJvJAHzX@A| X@A+3_~? A[A"&"AA3$vNA"AZAbAjArAzAAA7@AArAj@AֺA =A@ABܿAX?A"ȼ*Ai9?2Aֽ:AI=BAi9?JAֽRAI=I٘i)I9j@YG J>üJJJJ F&K Y]~?yGEA& F777>Ƹ9B)įBE[[V@[]~?[0[[[[BZYY i) QɼID?i47 . E)). EM@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039991.043165 s, next control iter: 1743039991.423184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743039991.443165 s.8vJ~,B]}+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743039991.443287F (some fields omitted in printout)Aq= X@AдX@A#_~? AAC&"AA vNA"AZAbAjArAzAAAq:6d7@AgerAi@A{<A[α=AH9@A_ݿA}+AJ"J*J2J:JBJnJvJAY@Aq Y@A{_~? AΔA&"AAVuNA"AZAbAjArAzAAAcM|17@AԘrA5$i@Agz[<A=A @AS>޿A?Aּ*A9?2ARֽ:A~=BA9?JARֽRA~=Y" @F@y=Q\<ٓH` G`fԬP,?` i?`W o??)" @ I٘i)I9$i@Y G J9ӼJI<JJJ F&Kw> Yw]~?yK;DA@) F{7j7ɸ9B)ѯBE[[B@[]~?[C%[[[[BZYY i) A׼IjD?ih , A))A)P@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039991.883165 s, next control iter: 1743039992.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039992.283165 s.8RJ~,~+AA(\OY@A@PBY@A_~? AA&"AAuNA"AZAbAjArAzAAA&w6@AmojܸrAWoh@A\A<Av=A@A޿A?A׼*Ah9?2AxCֽ:AW=BAh9?JAxCֽRAW=٘i)I9oh@Yv G JU׼JJJJ F&K Ybn]~?yt5dDA* Fŧ7b7˸9B)دBE[[BB!@[j]~?[[[[[BZYY i) M߼I\D?ir& ;m@));m@zQ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039992.303165 s, next control iter: 1743039992.683179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 134912, header.stamp.nsec: 020 temperature: 13.3874692* salinity: 33.3917202, density: 1025.0000002* values[0]: 0.6929152F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039992.703165 s.ԺJ~,-~+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743039992.703276F (some fields omitted in printout)J"J*J2J:JBJnJvJAQY@A} xY@A/^~? AA &"AAuNA"AZAbAjArAzAAAb)6@Abg1rAg@A;A=A#(@A+߿A0L?Aּ*AG9?2Aֽ:AS=BAG9?JAֽRAS=٘i)I9g@Y G J׼B=JJJJ F&K YHY]~?y/CA, F77i͸9B)߯BE[["@[̇]~?[S[[[[ZZ¸BZYY i¸=)  ӼICOD?iz >))>:S@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039992.723165 s, next control iter: 1743039993.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039993.123165 s.:J~,iG~+AAGY@AmԭY@Ar^~? AȂA[}&"AAuuNA"AZAbAjArAzAAA$A6@Ap9rA\g@A=Ao=A@Am1Ah?AԼ*AB9?2A6ֽ:A =BAB9?JA6ֽRA =٘i)I9g@Y G JּC=JJJJ F&K Y7D]~?y)tCA- F{7j74ϸ9B)B޹E[[I$@[n]~?[/[[[[ZZBZYY i)  ǼImBD?inP ^=))^=T@YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743039993.143165 s, next control iter: 1743039993.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039993.543165 s.IJ~,b~+AJ"J*J2J:JBJnJvJA= ףY@AqRY@AR^~? A}Au&"AANuNA"AZAbAjArAzAAAm#]6@AjdrA?Bf@A,OA=A6@A`!A?A*AG9?2A!׽:A <BAG9?JA!׽RA <٘i)I9Bf@Y# G JpJJJJ F&K Y /]~?y#BA. F)7ŧ7и9 B)B۹E[[%@[U]~?[A[[[[ZZBZYY i) WIT6D?ia 4;))4;GV@rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039993.563165 s, next control iter: 1743039993.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13492, header.stamp.nsec: 00 temperature: 13.387806* salinity: 33.391750, density: 1025.000000* values[0]: 0.691472F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039993.963165 s.}J~,}~+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083351< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743039993.963332F (some fields omitted in printout)Affff&Z@AcZZ@AԹ^~? AVwAF_&"AAnuNA"AZAbAjArAzAAAk%6@AV rAke@A$TA,=A(!@A A@G?AK*A9?2A׽:A3<BA9?JA׽RA3 Y7]~?yBA!@0 Fŧ7Ҹ9)B[[L'@[K<]~?[y [[[[ZZBZYY i) dI*D?iYY lS:))lS:IW@yE =ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039994.003165 s, next control iter: 1743039994.363181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743039994.383165 s.إJ~,<~+AJ"J*J2J:JBJnJvJA(\Z@A$FOZ@A^~? AqA&"AAORuNA"AZAbAjArAzAAA 5@A 9rAқd@AܻA&q=An"@A@g0Aj?A6*A۰9?2A ֽ:AW[<BA۰9?JA ֽRAW[<٘i)I9d@Y" G JJJJJ F&K YM]~?y2BA1 F7777Ը9"B)BعE[[K(@[o"]~?[[[[[ZZBZYY i) £IjD?imPd 8))8PY@pYFFF]Waiting for Gazebo time sync: latest Gz time: 1743039994.403165 s, next control iter: 1743039994.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13493", header.stamp.nsec: 0"0 temperature: 13.388178"* salinity: 33.391762", density: 1025.000000"* values[0]: 0.689868"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039994.803165 s.}AJ~,g~+AAZ@AdZ@A^~? A^lA8&"AAz5uNA"AZAbAjArAzAAAݱX5@ArA!c@A~6;A.=AP#@A`A*?AƧϼ*AK9?2Aֽ:A;BAK9?JAֽRA;٘i)I9c@Y G JJJJJ F&K Ye\~?y}AA2 Fb77_ָ9#B)BչE[[RM*@[e]~?[[[[[ZZBZYY i)  ID?iEQ WK7))WK7^Z@tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039994.823165 s, next control iter: 1743039995.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039995.223165 s.gJ~,H~+AJ"J*J2J:Jg0?BJg0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083351< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199482 time: 1743039995.223276F (some fields omitted in printout)AzZ@AZ@A-^~? AgAߠ&"AAuNA"AZAbAjArAzAAAvԚEv5@AjPrA:c@AC+<Al<A$@A8As?Av*A<9?2A]ֽ:AкBA<9?JA]ֽRAк٘i)I9:c@YK G JW¼JJJJ F&K Y~\~?yWhAA4 F7777)ظ9%B) BԹE[[+@[8\~?[j[[[[ZZBZYY i) ?I D?i7R 5))5V\@ZYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743039995.243165 s, next control iter: 1743039995.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039995.643165 s.йJ~,5*~+AA ףpZ@Ac~nhZ@AAl^~? AaAU&"AA1tNA"AZAbAjArAzAAAp295@Ar rAb@A6J<Aܣ <A|K&@A[#Aй?A*A9?2Aֽ:A3BA9?JAֽRA3٘i)I9b@Y G JWB=JJJJ F&K Y\~?y1 AA5 F{7ٸ9'B)BѹE[[RC-@[\~?[[[[[ZZBZYY i) ݀ID?i(O׻ G4))G4]@[UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039995.663165 s, next control iter: 1743039996.043180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13494, header.stamp.nsec: 00 temperature: 13.388656* salinity: 33.391727, density: 1025.000000* values[0]: 0.687900F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039996.063165 s.J~,p +AJ"J*J2J:J:0?BJ:0?nJ85vJA33333[@A)&[@AW^~? A\A]k&"AAtNA"AZAbAjArAzAAAeϷq4@A|onrAWb@Ȧ;AA'@A'pA6?A0*A9?2Aֽ:A~BA9?JAֽRA~Yu@'@y};ٓH`޸@߿\?@?d? /?~??)u@ I٘i)I9Wb@Y G JOdC=JEJJJ F&Knw> Y \~?y AA'@6 F77۸9(B)BιE[[.@[\~?[[[[[ZZBZYY iWz=) 6nIEC?iP̻ 2))2X_@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039996.083165 s, next control iter: 1743039996.463182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743039996.483165 s.{_J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.061119< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743039996.483285F (some fields omitted in printout)A\h[@AWZF[[@AhC^~? AWA&"AAռtNA"AZAbAjArAzAAA&X4@AlrAb@APAA3(@A@~A >?A ڰ*A9?2A4Oֽ:A0BA9?JA4OֽRA0٘i)I9b@Y G J JJJJ F&K Y\~?y`AA8 F77ݸ9*B)B˹E[[4<0@[!\~?[.[[[[ZZBZYY iGN=) $\I=C?ig< F1))F1`@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039996.503165 s, next control iter: 1743039996.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13495, header.stamp.nsec: 00 temperature: 13.388750* salinity: 33.391762, density: 1025.000000* values[0]: 0.687295F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039996.903165 s.J~,9+AJ"J*J2J:JBJnJvJAQ[@A[@A.^~? ASA+&"AAitNA"AZAbAjArAzAAAO9F~4@A9nErA b@A!t(AA)*@A A |?Aij9*A9?2Aֽ:AԼBA9?JAֽRAԼ٘i)I9 b@Y G JT8JJJJ F&K Yr\~?y"AA9 F77{7T߸9)[[T1@[\~?[[[[[BZYY i) WIIC?in( }/))}/8Xb@\>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039996.923165 s, next control iter: 1743039997.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039997.323165 s.yJ~,2T+AAGz[@AGZ*o[@AJ^~? ArNA~&"AA}tNA"AZAbAjArAzAAAE߇0R>4@AЄXrAb@A]A8As+@AQIA`?A elevatorAngleAction: 0.071927< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201632 time: 1743039997.743442F (some fields omitted in printout)Aףp= \@AK4[@A^~? AIAe&"AA']tNA"AZAbAjArAzAAA"*K3@A=nrA4Eb@A!Afe\A,@AA?A,<*A9?2AL7ֽ:A-cBA9?JAL7ֽRA-c٘i)I9Eb@Y G J;JJJJ F&K YA\~?y&7AA< Fŧ7b79-B)BŹE[[ 4@[L\~?[[[[[BZYY i) #IC?iӾ* ,)),Re@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039997.763165 s, next control iter: 1743039998.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039998.163165 s.{}J~,q+AA@\@AK2\@A]~? AEA9&"AAW Y%(\~?yAA.@= F779.B)B¹E[[6@[f1\~?[[[[[BZYY ig=) yIqC?i]:v OR+))OR+ff@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039998.183165 s, next control iter: 1743039998.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039998.583165 s.J~,R+AJ"J*J2J:JBJnJvJA)\u\@A[Υh\@A]~? ADAA)&"AAtNA"AZAbAjArAzAAAZ |w3@AXurAb@AAg<AAo/@A (AJ?A^<*A9?2A,ֽ:A BA9?JA,ֽRA ٘i)I9b@Y G J&I<JJJJ F&K Y[\~?yAA? F777791B)BE[[7@[\~?[[[[[BZYY i) IC?ihX P)))P)eGh@ݹ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039998.623165 s, next control iter: 1743039998.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13497, header.stamp.nsec: 00 temperature: 13.388771* salinity: 33.391766, density: 1025.000000* values[0]: 0.687569F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039999.003165 s.} J~,a4+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056636< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743039999.003319F (some fields omitted in printout)AR\@AJ{\@A~]~? A(=A&"AAgsNA"AZAbAjArAzAAA"="43@Au"rA-Bc@AR<A;A:0@A@PA v?AE<*A9?2Aֽ:A. BA9?JAֽRA. ٘i)I9Bc@YP G Jt<JJJJ F&K Y[~?yV2BA@ Fŧ77I9)B[[8@[`[~?[H[[[[BZYY i) WIC?i퍾35 [_())[_(Zi@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039999.023165 s, next control iter: 1743039999.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039999.423165 s.uJ~,+AJ"J*J2J:JBJnJvJA{G\@A^c@\@Aڪ]~? A09A.&"AAOsNA"AZAbAjArAzAAA~2@AT6rAc@AB2<AA: 2@A A o?A <*A9?2Aqֽ:A BA9?JAqֽRA ٘i)I9c@Y G J<JJJJ F&K Y[~?yBAA F77793B)BE[[*h:@[[~?[0[[[[BZYY i=) ԞȻIC?i]6 &))&7k@yR_h=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039999.443165 s, next control iter: 1743039999.823178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13498", header.stamp.nsec: 0"0 temperature: 13.388633"* salinity: 33.391773", density: 1025.000000"* values[0]: 0.688219"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039999.843165 s.J~,+AAp= ]@A ]@A]~? A]5A,{&"AAҴsNA"AZAbAjArAzAAAh2@A19WrA@d@A=M;AߚAP3@A@A^?A<<*AN9?2AR}ֽ:A} BAN9?JAR}ֽRA} ٘i)I9@d@Y G J<JJJJ F&K Y[~?y!BAC Fb7b794B)BE[[N;@[[~?[Lާ[[[[BZYY i) 樻I C?iuUú r%))r%l@yrh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039999.883165 s, next control iter: 1743040000.243191 s, wait time: 0.360026 s rAdjusting time to match Gazebo time: 1743040000.263165 s.J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199402 time: 1743040000.263279F (some fields omitted in printout)J"J*J2J:JBJnJvJAL]@AvQ?]@A|]~? A1A&"AAsNA"AZAbAjArAzAAAc2@A-rA?d@AͻANśA4@AA?Aů<*A9?2A2ֽ:Ap BA9?JA2ֽRAp Y5&@X4@yěCGλٓH J`$Կ?@ ?`_(s?ǵy'?)5&@ I٘i)I9d@YB G J<JJJJ F&Kw> Y0[~?y]ߧCCA4@D F95B)BE[[A=@[ڧ[~?[ܧ[[[[BZYY i) 2يIC?iUܽ o#))o#F"n@yL=)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040000.283165 s, next control iter: 1743040000.663177 s, wait time: 0.380012 s6tReceived state from Gazebo (printed only once in a while):62 header.stamp.sec: 134996, header.stamp.nsec: 060 temperature: 13.3884476* salinity: 33.3917546, density: 1025.0000006* values[0]: 0.6891636F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040000.683165 s.l J~,x++AA(\]@A;Mu]@Aqe]~? A%.A? &"AAnsNA"AZAbAjArAzAAA1 2@AoN$D}rACfe@AJAipAm5@A83A$?AŴ<*AV9?2Aֽ:An BAV9?JAֽRAn ٘i)I9fe@Y G J<JJJJ F&K Yb[~?yܧCAE F7t97B) BE[[>@[/[~?[ۧ[[[[BZYY i) YIC?ip "))"#o@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040000.683165 s, next control iter: 1743040001.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743040001.103165 s."J~,ݚF+AJ"J*J2J:JBJnJvJAQ]@AG]@AM]~? A*AO &"AA$KsNA"AZAbAjArAzAAAb~1@Afc{rAe@A=DA A&7@A@fA @?Ai<*A9?2A<ֽ:Adr BA9?JA<ֽRAdr ٘i)I9e@Y G JP<JJJJ F&K Yp[~?y٧DAG F77{7?9)B[[@@[p[~?[٧[[[[BZYY i) QxIC?i'ַ !))!q@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040001.123165 s, next control iter: 1743040001.503189 s, wait time: 0.380024 sp[~?)٧ rAdjusting time to match Gazebo time: 1743040001.523165 s.J~,{a+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743040001.523266F (some fields omitted in printout)AHz]@Ad9 ]@A6]~? A'A &"AA8'sNA"AZAbAjArAzAAAׂE1@A>_yrAf@A}>AMA|8@AA`%_?AL<*Aֵ9?2Aֽ:A"BAֵ9?JAֽRA"٘i)I9f@YV G J;<JJJJ F&K YU[~?yק}DAH Fj7j7 96B)BE[[}A@[+U[~?[ا[[[[BZYY i) ºIC?iYy=: ))+zr@&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040001.563165 s, next control iter: 1743040001.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13500, header.stamp.nsec: 00 temperature: 13.388241* salinity: 33.391754, density: 1025.000000* values[0]: 0.690226F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040001.943165 s.[dJ~,O]|+AJ"J*J2J:JBJnJvJAq= #^@A R^@A]~? Am$A &"AAsNA"AZAbAjArAzAAA=3"iD1@A 5xrA'g@AY;AA9@A)A {?Aѩ<*Aù9?2Aֽ:A߉BAù9?JAֽRA߉٘i)I9'g@Y G J<B=JJJJ F&K Y:[~?yMԧDAI Fb7797B)BE[[HB@[9[~?[ק[[[[BZYY i) I^C?i>L:  6)) 6s@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040001.983165 s, next control iter: 1743040002.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743040002.363165 s.%J~,>+AAY^@A;эL^@A]~? A~!A!&"AAgrNA"AZAbAjArAzAAA卹00@A{hZ6vrAkg@A<<AlXA+;@A`A?AΣ<*AQ9?2A׽:A+BAQ9?JA׽RA+Y0-@R;@yUtq=<ٓH`) ˿˚?@g?H?dq@f?]?C?)0-@ I٘i)I9g@Y G J0<C=J <JJJ F&KDx> Yg[~?yeҧHEA;@K F77j798B)BE[[bHD@[M[~?[֧[[[[BZYY i) VK9IC?i3>5: ))Xu@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040002.383165 s, next control iter: 1743040002.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13501&, header.stamp.nsec: 0&0 temperature: 13.388021&* salinity: 33.391750&, density: 1025.000000&* values[0]: 0.691283&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040002.783165 s.W+J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743040002.783285F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\^@Ae5]O^@AU\~? AA@!&"AArNA"AZAbAjArAzAAAB0@A)OtrA|;h@ASQ<An6Az<@A A1]?A <*A9?2A ׽:AABA9?JA ׽RAA٘i)I9;h@YW G J<JJJJ F&K Y[~?y~ЧEAL F777i99B)BE[[=E@[[~?[s֧[[[[BZYY i) ~:IC?ih>;  Y)) Yv@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040002.803165 s, next control iter: 1743040003.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040003.203165 s.3J~,!̀+AAQ^@A8^@A\~? AAyu!&"AAgrNA"AZAbAjArAzAAAdMBkLf0@AMrrA`h@A;A4A=@A@GA ?A<*Ac9?2Aֽ:AzBAc9?JAֽRAz٘i)I9h@Y G J`<JJJJ F&K YCZ~?yΧFAM F77{749;B)BE[[G@[Z~?[֧[[[[BZYY i) ;IC?iD>M9;; ))3x@+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040003.223165 s, next control iter: 1743040003.603181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040003.623165 s.W9J~,]+AJ"J*J2J:JBJnJvJAG^@A8{^@A\~? AAY!&"AAorNA"AZAbAjArAzAAA30@AՏ}hqrAFi@AA;AR?@A`lA`j?A"/<*A9?2A}ֽ:ABA9?JA}ֽRA٘i)I9Fi@Y G J<JJJJ F&K YZ~?y̧qFAO F779Jf; )))y@z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040003.663165 s, next control iter: 1743040004.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13502 , header.stamp.nsec: 0 0 temperature: 13.387856 * salinity: 33.391743 , density: 1025.000000 * values[0]: 0.692276 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040004.043165 s.@J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200522 time: 1743040004.043326F (some fields omitted in printout)A= ף0_@A:̗#_@A \~? ANA3!&"AAZIrNA"AZAbAjArAzAAAC/@A΅orAsi@A$'A~5AH@@A`ÏA`?Aᡞ<*A9?2ANLֽ:AzBA9?JANLֽRAz٘i)I9i@YKG J<JJJJ F&K YZ~?yʧFAP Fb779)B[[I@[Z~?[է[[[[BZYY i) ;IC?i$>; )){@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040004.083165 s, next control iter: 1743040004.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040004.463165 s.XGJ~,+AJ"J*J2J:JBJnJvJAfffff_@A@0`Y_@A\~? A&A"&"AAz#rNA"AZAbAjArAzAAA</@Aa(ҭnrAPj@A'UA#AGA@AA'?A<*A9?2AJQֽ:ABA9?JAJQֽRAYy3@A@y /VٓH@ 2ཿ૟? 施?`Rf; ?@S?)y3@ I٘i)I9Pj@YG Jl<B=J[B<JJJ F&Kx> Y Z~?yɧ0GAA@Q F779=B)BE[[+K@[XZ~?[֧[[[[BZYY i=) ;IC?i>3 ; L))Lir|@޺*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040004.503165 s, next control iter: 1743040004.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13503, header.stamp.nsec: 00 temperature: 13.387651* salinity: 33.391743, density: 1025.000000* values[0]: 0.693198F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040004.883165 s.yMJ~,M8+AA(_@AҦ_@Ap\~? A&A*"&"AAbqNA"AZAbAjArAzAAAe`n.@A˓uumrAj@A%A&AB@A-AoD?A<*A9?2Aֽ:AjBA9?JAֽRAj٘i)I9j@YG JT<C=JJJJ F&K  9YxZ~? 9yȧGAS F7{7_9)BE[[L@[b{Z~?[{֧[[[[BZYY i) B;I2C?i?p; D))D}@%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040004.903165 s, next control iter: 1743040005.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040005.303165 s.VTJ~,wgS+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076156< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743040005.303272F (some fields omitted in printout)A_@A_@AkW\~? AOAWP"&"AAqNA"AZAbAjArAzAAA+XĽ-@AY>*VlrAKk@A.nAqAB)BE[[M@[`Z~?[ק[[[[BZYY i) ;I;C?i?$^; ))A@{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040005.323165 s, next control iter: 1743040005.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13504*, header.stamp.nsec: 0*0 temperature: 13.387489** salinity: 33.391735*, density: 1025.000000** values[0]: 0.694103*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040005.723165 s.[J~,Hn+AAz`@AsHj_@A=\~? AAr"&"AAqNA"AZAbAjArAzAAA,)g:-@ASY2PkrAk@A2$<A&/AE@A@A?A<*AM9?2AV׽:AecBAM9?JAV׽RAec٘i)I9k@YzG J<JJJJ F&K Y@Z~?yƧDHAU F9?B)BE[[y=O@[+FZ~?[ק[[[[BZYY i) BA9?JA%׽RA>٘i)I9-l@YG JH<B=JJJJ F&K Y$Z~?yŧHAW F{7{79)ޯBE[[P@[+Z~?[ا[[[[BZYY i) # elevatorAngleAction: 0.076156< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743040006.563289F (some fields omitted in printout)A3333s`@A,f`@A \~? A A*"&"AA)cqNA"AZAbAjArAzAAATj,@Au irAl@A+<AAz0H@A/Ar?A<*A9?2Aֽ:AH4BA9?JAֽRAH4Y:@$H@y#,<ٓH`닿`a7?_L??5.?Zt??):@ I٘i)I9l@YG J)<C=JJJJ F&Kx> YZ~?yŧHA$H@X Fŧ7b79@B)ۯBE[[VQ@[Z~?[٧[[[[BZYY i) $ elevatorAngleAction: 0.076156< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200572 time: 1743040007.823342F (some fields omitted in printout)AGza@Auoa@A\[~? A A"&"AA pNA"AZAbAjArAzAAAl>V.*@A~grAn@AdOAv֐A!FA\A`/?A-<*A9?2A<ֽ:Ao BA9?JA<ֽRAo ٘i)I9n@YG J<JJJJ F&K YҳY~?y-ŧJA\ F7 9)ѯBE[[vU@[Y~?[ݧ[[[[BZYY i) rN8W@[Y~?[ߧ[[[[BZYY i) "7^ Yq{Y~?yŧJAwC_ F779)ʯBE[[X@[>Y~?[_[[[[BZYY i) hnm elevatorAngleAction: 0.076156< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743040009.083293F (some fields omitted in printout)A)\µa@Aa@Ao[~? AAq#&"AA&xpNA"AZAbAjArAzAAA!寥V(@ARx[frAyo@Al;AsA#BAtA`̷?AW<*A9?2A׽:A BA9?JA׽RA ٘i)I9o@YG Jٛ<JJJJ F&K YO_Y~?yƧ6KA` F7{7J9CB)ƯB}E[[Y@[xY~?[d[[[[BZYY i) 0|LAm?A$xACpA^ҟ<*A9?2AV׽:A˸ BA9?JAV׽RA˸ ٘i)I9p@YlG J<JJJJ F&K Y 'Y~?y ȧKAc F779)BwE[[s\@[FY~?[[[[[BZYY i)  elevatorAngleAction: 0.085458< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743040010.343294F (some fields omitted in printout)Ap= Wb@AIb@A}![~? AA5#&"AApNA"AZAbAjArAzAAA2@m}&@A.gfrA%q@A ;ApA9>AuABA<*A<9?2Aֽ:AUwBA<9?JAֽRAUw٘i)I9q@YG J<JJJJ F&K Y Y~?yȧaLAd Fb779DB)BtE[[%]@[.Y~?[H[[[[BZYY i) & Y1X~?yʧLA<e F77u9)BqE[[_@[Y~?[[[[[BZYY i)  elevatorAngleAction: 0.085458< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040011.603291F (some fields omitted in printout)AQb@A-Ib@AZ~? AE AI#&"AA׋oNA"AZAbAjArAzAAAV : 2$@AngrAr@AUAFZAj:A_A #A-<*A9?2A1,ֽ:AsBA9?JA1,ֽRAs٘i)I9r@YG J<JJJJ F&K YX~?yͧMAh F777 9)BnE[[a@[(X~?[[[[[BZYY i) 珫7+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085458< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743040012.863309F (some fields omitted in printout)J"J*J2J:JBJnJvJAc@AMc@A)Z~? A A"&"AARoNA"AZAbAjArAzAAA\K"@Aߙ%irAlt@Ax<AAc6A/3A ʜAl]<*A̎9?2A׽:A\aBA̎9?JA׽RA\aY6M@_p6yƒe<ٓH@Dh?ٳ?Lҿ`hà?@k?@ޛ? ?)6M@ I٘i)I9t@YG J<C=JmJJJ F&K;x> YAeX~?yӧNAp6l Fb77j#9)BfE[[fe@[jX~?[[[[[BZYY i) HՋ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040012.883165 s, next control iter: 1743040013.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040013.283165 s.9RJ~,R+AA(\c@AJPc@A}lZ~? AX A"&"AAZnNA"AZAbAjArAzAAA!`3"@Az,pirABu@ASU<A A5ALA@iAپ<*A>9?2Au׽:AƀBA>9?JAu׽RAƀ٘i)I9Bu@YEG Jܼ<JJJJ F&K Y elevatorAngleAction: 0.085458< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743040014.123293F (some fields omitted in printout)AG:d@A<-d@An9Z~? A\A4"&"AAСnNA"AZAbAjArAzAAAi\J @A7krAv@A:A^A2A A`mÿA/<*A9?2Avֽ:AӖBA9?JAvֽRAӖ٘i)I9v@YG J<C=JJJJ F&K Y-X~?yDۧDPAp F{7{7(9)B[[*i@[)`X~?[u[[[[BZYY i) ޵A:0AACǿAa<*A[9?2Aս:A14BA[9?JAսRA14Y*T@/y:QٓHr`~k?'?@dؿ?`Ο?AG?)*T@ I٘i)I9w@YG J<J7JJJ F&Kw> YW~?y'1QA/s F77_,9)BZE[[k@[5X~?[[[[[ZZZZ¸>BZYY i¸>o)  Y]W~?yRSAJ*y F{7{7U59)dBOE[[)q@[W~?[#[[[[ZZZZBZYY ic) t@[dW~?[A,[[[[ZZZZBZYY i) rJJJ F&K>d> YV~?yTAL$ FZ7Z7J>9)TBCE[[mw@[sW~?[:[[[[BZYY iI~l) ^H5vJA)\f@A"3f@AX~? A2A&"AAlNA"AZAbAjArAzAAA%v@A~{ӀrA}@AD:A6=A"A@#APԿAK-N*AY:?2A]Rѽ:AV<BAY:?JA]RѽRAV<٘i)I9}@YlG JJJJJ F&K YV~?y SA Fb77@9AB)SB@E[[Gy@[mbW~?[?[[[[BZYY i劽) j6E[[p{@[@W~?[I[[[[BZYY i) R2Ak"&"AAoSlNA"AZAbAjArAzAAA 7@AΒrA|@Al0<A×=A9 A`{AU2׿A؀p*A?:?2A Խ:As_=BA?:?JA ԽRAs_=٘i)I9|@YG J\YJJJJ F&K YV~?yYSA F)7ŧ7uE9)YB;E[[Ɲ|@[b0W~?[N[[[[BZYY i) (5vJAg@Ag@AX~? A>BA&"AA1lNA"AZAbAjArAzAAAti== @A=6rAf|@A:AO>=AJA=AؿA #*A::?2Aս:A"-=BA::?JAսRA"-=YQnf@Dy@>=*:ٓH @?Ь`#\? e?)Qnf@ I٘i)I9|@YG J.JZ=JJJ F&K|> YlV~?y RA Fŧ7@G9@B)\B8E[[}@[I W~?[RT[[[[BZYY i˃m) ;IK{G?i9@< Ŀ))Ŀ@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040021.283165 s, next control iter: 1743040021.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 135202, header.stamp.nsec: 020 temperature: 13.3847512* salinity: 33.3915822, density: 1025.0000002* values[0]: 0.7082852F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040021.683165 s.lZJ~,^k+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057987< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743040021.683273F (some fields omitted in printout)A(\h@A@g@AX~? ArFA-&"AAlNA"AZAbAjArAzAAAXR" @A6=ƌrA|@A/A=AaOA`AGؿA*A06:?2A(iֽ:Aa=BA06:?JA(iֽRAa=٘i)I9|@YhG J!JJJJ F&K YVV~?y&RA Fj7j7 I9)`B[[~@[W~?[Y[[[[BZYY i) Z;IG?i-=@%< s))s>@}ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040021.683165 s, next control iter: 1743040022.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743040022.103165 s.aJ~,+AJ"J*J2J:J75?BJ75?nJ>5vJAQ8h@ASF+h@ArX~? AJA0&"AAdkNA"AZAbAjArAzAAAO(@A"mrAA{@A_A=A1A`A@ʪٿA䠼*A7:?2A!ֽ:A =BA7:?JA!ֽRA =٘i)I9{@YG JwJJJJ F&K Y@V~?y+4RA F77J9?B)cB5E[[@[OW~?['_[[[[BZYY i) b;IuG?i@@< d))d6@n֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040022.123165 s, next control iter: 1743040022.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040022.523165 s.gJ~,{+AAHznh@A ah@A\X~? ADOA&"AA:kNA"AZAbAjArAzAAA?@A!O)rA{@AhDA=AŨA`vAvڿA<*A9:?2Aֽ:A =BA9:?JAֽRA =٘i)I9{@YG J JJJJ F&K Y*V~?y1QA F77{7L9)gB3E[[@[rV~?[d[[[[BZYY i) ;IG?iD@"< w))w˙@ymتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040022.543165 s, next control iter: 1743040022.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13521, header.stamp.nsec: 00 temperature: 13.384963* salinity: 33.391579, density: 1025.000000* values[0]: 0.707407F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040022.943165 s.YdnJ~,F]+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057987< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743040022.943288F (some fields omitted in printout)Aq= ףh@A3mʖh@AnGX~? ASA$&"AAkNA"AZAbAjArAzAAAD4^@A3rA]mz@AA5a=AbA 0A`>ۿAu*A<:?2Aֽ:A" =BA<:?JAֽRA" =I٘i)I9mz@YkG JJJJJ F&K YV~?y6qQA F{7j7jN9)lB[[:>@[V~?[-j[[[[BZYY i) ]X;I #H?itI@= ))5`@تYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743040022.963165 s, next control iter: 1743040023.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040023.363165 s.uJ~,>ׅ+AAh@ALhh@AO2X~? AXA&&"AA?kNA"AZAbAjArAzAAAZF@AcrAy@AUi;A[=AA`}A@kܿA׸*A>:?2Aֽ:A-g=BA>:?JAֽRA-g=Y2m@cycZ=;ٓHݪโ?`@t%@O@f x?J?)2m@ I٘i)I9y@Y G JsB=Jz@<JJJ F&KNz> YV~?y< QA F775P9)pB0E[[,ԁ@[V~?[o[[[[BZYY i) ,;I OH?i%L@= f))f'@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040023.383165 s, next control iter: 1743040023.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13522&, header.stamp.nsec: 0&0 temperature: 13.385225&* salinity: 33.391567&, density: 1025.000000&* values[0]: 0.706396&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040023.783165 s.^{J~,+AJ"J*J2J:JBJnJvJA(\i@A('Ui@AX~? A]A&"AAskkNA"AZAbAjArAzAAA\G@AqۚrA8y@ANS<A=AA,AܿAV*AB:?2AKֽ:Az=BAB:?JAKֽRAz=٘i)I98y@YG JC=JJJJ F&K YU~?yBPA F777R9>B)tB,E[[Pi@[V~?[u[[[[BZYY iN݈) 6:I{H?i8O@ = ?))?K@ZѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040023.823165 s, next control iter: 1743040024.183184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743040024.203165 s.J~,  +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743040024.203282F (some fields omitted in printout)AQEi@A8i@A X~? AbAph&"AA"LkNA"AZAbAjArAzAAAe;W?A ͆rAx@AT<AB}=A`A@{TAݿAa*AE:?2Aֽ:A$=BAE:?JAֽRA$=٘i)I9x@YPG J޷JJJJ F&K YU~?y-I8PA F7S9)yB[[@[vV~?[[{[[[[BZYY i) :IH?iR@= S))S@U˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040024.243165 s, next control iter: 1743040024.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040024.623165 s.ZJ~,i'+AJ"J*J2J:JBJnJvJAGzi@Ar1mi@AW~? AgAn&"AAP-kNA"AZAbAjArAzAAAvt?Ao. rA0 x@Aۍ;A=A@2AArE޿AwϨ*AC:?2Af׽:A<BAC:?JAf׽RA<٘i)I9 x@YG JJJJJ F&K YwU~?y_OOA Fb7U9=B)}B)E[[됃@[pV~?[*[[[[BZYY i) pwIH?iV@ K = s))s沜@$ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040024.643165 s, next control iter: 1743040025.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13523 , header.stamp.nsec: 0 0 temperature: 13.385493 * salinity: 33.391571 , density: 1025.000000 * values[0]: 0.705277 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040025.043165 s.J~,B+AA= ףi@Ai@A W~? AlA&"AAkNA"AZAbAjArAzAAA[.?Ac7 ErAw@AAW=A A:A߿A[*AtB:?2Ax׽:A<BAtB:?JAx׽RA<٘i)I9w@YG JJJJJ F&K YiU~?yUhOA F7`W9>B)B*E[[F#@[֠V~?[[[[[BZYY i) ֭II?iZ@R = g*))g*AE@yшYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743040025.063165 s, next control iter: 1743040025.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040025.463165 s.VJ~,]+AJ"J*J2JvPublished command to Gazebo (printed only once in a while)::J( dropWeightState: 1BJnJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743040025.463275F (some fields omitted in printout)Affffi@A\i@AW~? ASrA7&"AA砿 K@?\ @[7?)s@ I٘i)I9w@YUG J͘JTJJJ F&Ky> YxU~?y`\ OA Fŧ7b7+Y9=B)B'E[[Q@[nV~?[[[[[BZYY i)  II?i-]@ = ;ڬ));ڬLٝ@+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040025.503165 s, next control iter: 1743040025.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13524, header.stamp.nsec: 00 temperature: 13.385735* salinity: 33.391537, density: 1025.000000* values[0]: 0.704323F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040025.883165 s.yJ~,8x+AA(j@A*qj@AW~? AwAz&"AAjNA"AZAbAjArAzAAA/͗?A(+rAv@A`Aq=A0A A7AM*A>:?2AW׽:A#<BA>:?JAW׽RA#<٘i)I9v@Y G JJJJJ F&K YU~?y-cNA F77Z9)B$E[[J@[oV~?[[[[[BZYY i) ^7PIi_@[= ))l@eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040025.903165 s, next control iter: 1743040026.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040026.303165 s.J "J *J 2J :J 14?BJ 14?nJ <5vJ [J~,g+AAQj@ADj@AƧW~? Az}A`&"AASjNA"AZAbAjArAzAAA0F3?ANI[^rAv@AsaA-=Ap ApA lAʵ*Av;:?2A4b׽:A<BAv;:?JA4b׽RA<٘i)I9v@YG J"JJJJ F&K YzU~?yiUNA F7\9)B[[>݅@[|V~?[[[[[BZYY i) 4Ii3c@ih= B))B9@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040026.323165 s, next control iter: 1743040026.703181 s, wait time: 0.380016 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13525*, header.stamp.nsec: 0*0 temperature: 13.385945** salinity: 33.391529*, density: 1025.000000** values[0]: 0.703475*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040026.723165 s.J~,H+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743040026.723299F (some fields omitted in printout)Azj@A}zj@AlW~? A;A&"AA4jNA"AZAbAjArAzAAA6zi?Au[rAu@A-:A=6=A AaAAa*A8:?2A׽:A<BA8:?JA׽RA<٘i)I9u@YzG JnjJJJJ F&K YhU~?ypMA Fb7b7^9)B"E[[o@[qV~?[&[[[[BZYY i_) LIif@= ))@0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040026.743165 s, next control iter: 1743040027.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040027.143165 s.Y/J~,*Ɇ+AJ"J*J2J:J3?BJ3?nJ<5vJA ףpj@AQdj@AsW~? AAH&"AAjNA"AZAbAjArAzAAAKi?AurA"u@A,<Ak=A_ Ac A@H8Av*A!6:?2Aֽ:A-<BA!6:?JAֽRA-<٘i)I9"u@Y2G J䍼JJJJ F&K YVU~?ywMA F7{7U`9)B[[@[fV~?[A[[[[BZYY i) cŻIij@:= /))/!@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040027.163165 s, next control iter: 1743040027.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040027.563165 s.J~,| +AA3333j@A 'j@AqW~? AA &"AAdjNA"AZAbAjArAzAAAXG ֱ?AkrA6t@Axd<AY$=A A]߿A'AC*A/:?2AWֽ:ANz<BA/:?JAWֽRANz YGU~?y~EMA  Fj7j7 b9<JJJ F&Kx> YyT~?yKA Fj7Z7k9)B[[6e@[-V~?[˨[[[[BZYY i) m@Ii7{@@ = "))"1@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040029.683165 s, next control iter: 1743040030.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040030.083165 s.DJ~,S+AA)\5l@A+(l@AW~? A&A+&"AAiNA"AZAbAjArAzAAA4|~>Azc'ZrA' r@A OA&=A.A 5ڿAQAG%*AK :?2A׽:A@=BAK :?JA׽RA@=٘i)I9 r@YOG JXJJJJ F&K YTT~?y䫨(KA F7777l9*B)BE[[g@[}%V~?[Ѩ[[[[BZYY i) 9PIiw}@88"= ᓿ))ᓿb@HƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040030.103165 s, next control iter: 1743040030.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040030.503165 s.J~,@4+AJ"J*J2J:Jd3?BJd3?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075677< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743040030.503288F (some fields omitted in printout)ARkl@Af.py^l@AQW~? AֻA &"AA:iNA"AZAbAjArAzAAA,KyJAdkorA܌q@A;A=AtA ڿAAҘ*Ai:?2Aɼֽ:A+ =BAi:?JAɼֽRA+ =٘i)I9q@YG JJJJJ F&K Y1T~?yJA F)7ŧ7n9)BE[[@[V~?[ר[[[[BZYY i) \l_Ii @K#= ))릤@ ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040030.543165 s, next control iter: 1743040030.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13529, header.stamp.nsec: 00 temperature: 13.386739* salinity: 33.391495, density: 1025.000000* values[0]: 0.700352F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040030.923165 s.9J~,+AA{Gl@A';l@AV~? A©A&&"AARiNA"AZAbAjArAzAAA%նA"ʬrA q@AY<A$=AILA@;ٿA_A^*A :?2Aֽ:AM=BA :?JAֽRAM=٘i)I9 q@YG JJJJJ F&K Y T~?y{jJA Fj7j7up9)B[[@[<V~?[rި[[[[BZYY iL) ,nIi@e%= h))h5@(ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040030.963165 s, next control iter: 1743040031.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040031.343165 s. YbT~?yr˨IA Fj7 t9)B[[L1@[{V~?[}[[[[BZYY i) Ii@(= O))O򊿩GS@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040031.783165 s, next control iter: 1743040032.163188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743040032.183165 s.J~,s +AJ"J*J2J:JBJnJvJA(\Bm@A5m@A,V~? AxשAD&"AAeiNA"AZAbAjArAzAAA.GALrA?so@AA5R=AwKAֿA@AG *As9?2A[׽:A=BAs9?JA[׽RA=٘i)I9so@YG JJJJJ F&K YݱT~?yӨ>IA F77u9)BE[[@['V~?[[[[[BZYY i) ->Ii@-7*= ?))? @y2ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040032.223165 s, next control iter: 1743040032.583181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743040032.603165 s.64 J~,&+AAQxm@ANEkm@A˿V~? AީA2&"AARiNA"AZAbAjArAzAAABa PArAn@AGAe_=A8A`}տAA[*A9?2A6׽:AE=BA9?JA6׽RAE=٘i)I9n@YjG JVJJJJ F&K YWT~?yۨHA F777w9)BE[[fN@[6U~?[[[[[BZYY i) &̕Ii"@+= }))}ap@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040032.623165 s, next control iter: 1743040033.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13531 , header.stamp.nsec: 0 0 temperature: 13.387172 * salinity: 33.391464 , density: 1025.000000 * values[0]: 0.698560 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040033.023165 s.ZJ~,|A+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: -0.084619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743040033.023308F (some fields omitted in printout)AHzm@A| m@AV~? AA|&"AA@iNA"AZAbAjArAzAAA;apA8#rAncn@Av[A=AAտA-AY*A9?2An׽:A =BA9?JAn׽RA =٘i)I9cn@YG J7JJJJ F&K YМT~?yqHA Fŧ77ky9)B[[,܎@[U~?[B[[[[BZYY i) ZIiy@h-= F))F'@AުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040033.063165 s, next control iter: 1743040033.423180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040033.443165 s.8J~,B]\+AAq= m@Akm@AxV~? A A&"AAk.iNA"AZAbAjArAzAAA{ąAwrAm@AA"=AqA*ԿA7A*A9?2A׽:Ad=BA9?JA׽RAd=٘i)I9m@YG JΩJJJJ F&K YJT~?y HA F776{9)B[[@i@[U~?[[[[[BZYY i) F褼Ii@[/= ));@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040033.463165 s, next control iter: 1743040033.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13532, header.stamp.nsec: 00 temperature: 13.387400* salinity: 33.391457, density: 1025.000000* values[0]: 0.697624F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040033.863165 s.+J~,>w+AJ"J*J2J:J2?BJ2?nJD;5vJAn@AaK n@AV~? A^Aa&"AAniNA"AZAbAjArAzAAAVuMAXrAf>m@As;A|E=A?ANӿA`iA*A9?2Aֽ:Al4=BA9?JAֽRAl4=Y ҆@y^E=;ٓH|ѿ:?9@ Ŵѿ@~c?W?) ҆@ I٘i)I9>m@YdG JB=J<JJJ F&K*x> Y}T~?yGA F77j7}9(B)BE[[A@[U~?[ [[[[BZYY i) AIi@t'0= ))<@=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040033.883165 s, next control iter: 1743040034.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040034.283165 s.3R$J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743040034.283276F (some fields omitted in printout)A(\On@APBn@A V~? AAa&"AA* iNA"AZAbAjArAzAAA=8@>A trAΟl@A|3<AI=AmApҿAA*A<9?2A`ֽ:AF=BA<9?JA`ֽRAF=٘i)I9l@YG JؼC=JJJJ F&K YT~?y)GA F{7Z7~9)ïB[[܄@[9U~?[/[[[[BZYY i) Iim@/1= H{))H{צ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040034.303165 s, next control iter: 1743040034.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13533., header.stamp.nsec: 0.0 temperature: 13.387633.* salinity: 33.391441., density: 1025.000000.* values[0]: 0.696588.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040034.703165 s.Ժ*J~,+AJ"J*J2J:JBJnJvJAQn@A.xn@AV~? A9A`@&"AAhNA"AZAbAjArAzAAAuAsAk@Ac<A=AA@gѿA`wAǼ*A#9?2A0]ֽ:AX=BA#9?JA0]ֽRAX=٘i)I9k@YG JļB=JJJJ F&K YzT~?y}FA Fŧ7b79)ȯB[[&@[)U~?[[[[[BZYY i) Iij@\t2= v))v!4@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040034.723165 s, next control iter: 1743040035.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743040035.123165 s.91J~,eLj+AAGn@A,խn@AV~? A A'&"AAhNA"AZAbAjArAzAAAU*eAܙsAQk@Ao <Ad=A1A9пA@Anɼ*Az9?2A/ֽ:A=BAz9?JA/ֽRA=٘i)I9Qk@Y8G JɼC=JJJJ F&K YsT~?y GFA F7`9)ͯB[[Ӟ@[{U~?[ [[[[BZYY i) K¼Ii@3= exr))exr@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040035.163165 s, next control iter: 1743040035.523180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040035.543165 s.I8J~,+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: -0.084619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743040035.543285F (some fields omitted in printout)A= ףn@A*Wxn@AvV~? ASA&"AAhNA"AZAbAjArAzAAA?Ad@: sAj@Ad29A=A{A`łϿAAkɼ*A%9?2A3׽:A=BA%9?JA3׽RA=٘i)I9j@YG JʼJJJJ F&K YHkT~?yeEA F77+9'B)үBE[[*@[.U~?[2'[[[[BZYY i) ɼIi@o5= n))nL@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040035.563165 s, next control iter: 1743040035.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13534, header.stamp.nsec: 00 temperature: 13.387930* salinity: 33.391445, density: 1025.000000* values[0]: 0.695439F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040035.963165 s.>J~,'+AAffff&o@ABA)Zo@AnV~? AAA&"AAhNA"AZAbAjArAzAAAV A&J sAi@AAh=A߿A@ͿA`EAD|ɼ*A9?2AP׽:A=BA9?JAP׽RA=Y @߿yf=)ٓH xƿ?^y `ƿ@7% ?) @ I٘i)I9i@YiG JɼJ-<JJJ F&Kx> YHfT~?y _EA߿ F779)ׯB[[淒@[;U~?[-[[[[BZYY i) )мIif@\E6= ͯi))ͯi٫@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040035.983165 s, next control iter: 1743040036.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040036.383165 s.EJ~,M+AJ"J*J2J:JBJnJvJA(\o@A$FOo@AfV~? A!A &"AAhNA"AZAbAjArAzAAAuwWA<\vsATi@A)bAò=A[ݿAz˿A*kA*˼*A.9?2AZ׽:A%=BA.9?JAZ׽RA%=٘i)I9Ti@YG JʼJJJJ F&K YHaT~?y'DA F79)ܯB[[D@[U~?[4[[[[BZYY i) ؼIi@7= -Je))-Jef@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040036.403165 s, next control iter: 1743040036.783184 s, wait time: 0.380019 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13535", header.stamp.nsec: 0"0 temperature: 13.388186"* salinity: 33.391426", density: 1025.000000"* values[0]: 0.694267"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040036.803165 s.}ALJ~,g3+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743040036.803304F (some fields omitted in printout)Ao@A~7݄o@A^V~? Ab)A*Z &"AADhNA"AZAbAjArAzAAATJ A:D-MsAh@A5A =AOڿA`ʿA`Aϼ*A9?2A׽:AB=BA9?JA׽RAB=٘i)I9h@Y G JͼJJJJ F&K YH\T~?y\0qDA F79)BE[[Г@[vU~?[X;[[[[BZYY i) tO߼Iiڏ@!8= `))`@kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040036.823165 s, next control iter: 1743040037.203181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040037.223165 s.gSJ~,HN+AJ"J*J2J:JBJnJvJAzo@A7o@AWV~? A)1A &"AAKhNA"AZAbAjArAzAAA5܁`- Af sAg@Ak&A=AYؿA,ȿA LAּ*A 9?2A0ֽ:AG=BA 9?JA0ֽRAG=٘i)I9g@Y. G JQҼB=JJJJ F&K YHWT~?y9CA F7V9)B[[\@[U~?[B[[[[ZZ¸BZYY i¸>=) {OӼIiڐ@i9= \))\~@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040037.243165 s, next control iter: 1743040037.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040037.643165 s.zYJ~,*i+AA ףpo@AjN^do@A6QV~? A8At* &"AAhNA"AZAbAjArAzAAA0 % A sAAg@AS;A<ʵ=A*տAXƿA`A5eܼ*A9?2ARֽ:A=BA9?JARֽRA=٘i)I9Ag@Y G JټC=JJJJ F&K YHRT~?yACA F77{7 9)B[[E@[/U~?[H[[[[ZZBZYY i) RǼIi @f:= ,X)),X@ @tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13536, header.stamp.nsec: 00 temperature: 13.388471* salinity: 33.391415, density: 1025.000000* values[0]: 0.693064F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040037.663165 s, next control iter: 1743040038.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040038.063165 s.`J~,R +AJ"J*J2J:Jl1?BJl1?nJ :5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083127< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743040038.063282F (some fields omitted in printout)A33333p@Aіs)&p@ACKV~? A@Aq &"AAhNA"AZAbAjArAzAAAl0a8Z AV%sAtf@AZ<A=AҿA F~ĿAABU*AL9?2A2ֽ:A<BAL9?JA2ֽRA Y PT~?yrJCAҿ FZ7SI7뎹9)B[[lt@[U~?[{O[[[[ZZBZYY i) `IiP@H;= S))Sg@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040038.083165 s, next control iter: 1743040038.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040038.483165 s.y_gJ~,잉+AA\hp@A6v[p@AEV~? AHA &"AAhNA"AZAbAjArAzAAA?{ A8Io*sAe@AG<A=A`пA`¿A A`*A-9?2AWֽ:A^<BA-9?JAWֽRA^<٘i)I9e@Y G JC=JJJJ F&K YMT~?y6SBA F7779)BE[[X@[_U~?[5V[[[[ZZBZYY i) -oIiƒ@;= =lO))=lOS"@y5=ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040038.503165 s, next control iter: 1743040038.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13537, header.stamp.nsec: 00 temperature: 13.572228* salinity: 33.374996, density: 1025.000000* values[0]: 0.569301F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040038.903165 s.mJ~,͹+AJ"J*J2J:JBJnJvJAQp@A?Wp@A@V~? APAh] &"AAhNA"AZAbAjArAzAAAT}5*U AeE/sAd@AŎ;Aq=AͿAA A!*A9?2Afֽ:A"e<BA9?JAfֽRA"e<I٘i)I9d@Y6 G JJJJJ F&K YKT~?y[$BA Fŧ7b79)B[[ @[U~?[\[[[[ZZBZYY i) |Iik@<= K))K@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040038.943165 s, next control iter: 1743040039.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040039.323165 s.|tJ~,>ԉ+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083127< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743040039.323284F (some fields omitted in printout)AGzp@AMpp@Aֽ:AFBA9?JA>ֽRAF٘i)I9cc@Yd G JdJJJJ! F&K YGT~?ym;AA F{79) B[[ſ[jU~?[Qj[[[[ZZBZYY i) 癋IiA@ ?= \B))\B\BYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743040039.763165 s, next control iter: 1743040040.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040040.163165 s.v}J~,q +AA@q@Aӡ2q@AL5V~? AhÅ&"AA8yhNA"AZAbAjArAzAAAI\n A=sAb@AjzkAْ <AMſA1A LAut*A 9?2A|ֽ:A(BA 9?JA|ֽRA(Y@Iſy/ <|kٓH ?@? ۍ? % ?`Q o`?)@ I٘i)I9b@Y G JJX:JJJ" F&Kjw> Y7HT~?yYv/AAſ F{7j7ᗹ9)BE[[ÿ[*U~?[ q[[[[ZZBZYY iD=) %Ii[@-?= O=))O=O=&VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040040.183165 s, next control iter: 1743040040.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040040.583165 s.J "J *J 2J :J a?BJ a?nJ q5vJ 'J~,CS%+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200522 time: 1743040040.583320F (some fields omitted in printout)A)\uq@Aꗈhq@Ay2V~? ApAJ&"AAthNA"AZAbAjArAzAAA_ ATBsAb@AAA;@ÿAaAZAl**A9?2A"ֽ:AWBA9?JA"ֽRAW٘i)I9b@Y G JUJJJJ$ F&K YHT~?y,$AA Fŧ779)B[[V[HU~?[w[[[[ZZBZYY i=) oIi@S?= _9))_9_9x)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040040.603165 s, next control iter: 1743040040.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13539, header.stamp.nsec: 00 temperature: 13.572925* salinity: 33.375000, density: 1025.000000* values[0]: 0.567598F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040041.003165 s.} J~,a4@+AARq@Axq@A-0V~? AxAhQ&"AAphNA"AZAbAjArAzAAAo#; AnGsA Vb@AM';A"ЫAˠAAXfAe*A9?2Aֽ:A-BA9?JAֽRA-٘i)I9Vb@Y G JJJJJ% F&K YIT~?yAA F)7ŧ7v9)B[['[U~?[x~[[[[ZZBZYY i) I'\Ii@&@= ?5))?5?5])YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040041.023165 s, next control iter: 1743040041.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040041.423165 s.uJ~,w[+AJ"J*J2J:JBJnJvJA{Gq@A" elevatorAngleAction: 0.074742< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743040041.843294F (some fields omitted in printout)Ap= r@A r@A/-V~? ALjA&"AA0khNA"AZAbAjArAzAAA(܆3A=ۇQsA=b@Aac<A3A]A`A tA_-;*A}9?2Aֽ:A"BA}9?JAֽRA"㼙٘i)I9=b@Y G J9B=JJJJ( F&K Y KT~?yAA F777 9+B)B[[?ͺ[U~?[Ћ[[[[BZYY i) 34Ii@B= ,)),,q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040041.883165 s, next control iter: 1743040042.243180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040042.263165 s.J~,ؐ+AJ"J*J2J:JBJnJvJALr@Aje?r@A{,V~? AِA=y&"AAihNA"AZAbAjArAzAAADZDA?9uVsA\b@A<A|PZAʸAAwA;*A19?2Aֽ:A>BA19?JAֽRA>Y&֓@ڸy?NZ<ٓHU$??`߲9? z?`yF?P? ?)&֓@ I٘i)I9\b@Y G J2;C=JJJJ) F&Kw> YNT~?yeJAAڸ F77֠9)B[[k[cU~?[v[[[[BZYY ig=) ~$Ii@A= 0())0(0(A*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040042.283165 s, next control iter: 1743040042.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 135412, header.stamp.nsec: 020 temperature: 13.5730752* salinity: 33.3750002, density: 1025.0000002* values[0]: 0.5672702F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040042.683165 s.lJ~,Z+AA(\r@Awӂur@AM,V~? A옪A&"AAhhNA"AZAbAjArAzAAAWxHAb[sA=b@A%adAzACAf?A`mxA2<*A9?2AW[ֽ:A BA9?JAW[ֽRA ٘i)I9b@Y G J <JJJJ* F&K Y/RT~?y#AA F79,B)BE[[s[QU~?[[[[[BZYY i)  9Ii@B= 7#))7#7#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040042.683165 s, next control iter: 1743040043.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743040043.103165 s.J~,Ɗ+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056547< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743040043.103282F (some fields omitted in printout)AQr@A1AGr@A,V~? AA=&"AAihNA"AZAbAjArAzAAA4K@AP`sAQb@A)A餉AAzՑ?AvAt<*Aq9?2Asֽ:A= BAq9?JAsֽRA= ٘i)I9b@Y G JQ<JJJJ, F&K YUT~?y⳩AA Fk9)BE[[F[U~?[[[[[BZYY i=) Ii@{B= }))}}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040043.143165 s, next control iter: 1743040043.503178 s, wait time: 0.360013 sUT~?)⳩ rAdjusting time to match Gazebo time: 1743040043.523165 s.J~,{+AAHzr@A/r@A-V~? AAI&"AAihNA"AZAbAjArAzAAAk+A4s=esA`c@A^mA*A.A ?A`rA'U<*A09?2Aֽ:A|BA09?JAֽRA|٘i)I9`c@Yb G J<JJJJ- F&K YTYT~?y&BA F69)B[[[AU~?[M[[[[BZYY i) QIij@C= %))%%yg=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040043.543165 s, next control iter: 1743040043.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13542, header.stamp.nsec: 00 temperature: 13.572937* salinity: 33.374996, density: 1025.000000* values[0]: 0.567608F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040043.943165 s.ZdJ~,J]+AJ"J*J2J:JBJnJvJAq= #s@As@A.V~? A!A&"AAkhNA"AZAbAjArAzAAA]v۵ Ay2)jsA/c@A @5Ai|A*A`"?A lA<*Ac9?2AnGֽ:ABAc9?JAnGֽRA٘i)I9c@Y G J<JJJJ. F&K Y\T~?y_ũoBA F779) B[[ﯿ[AU~?[ܬ[[[[BZYY i) ƻIi@C= ))yOa=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040043.983165 s, next control iter: 1743040044.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040044.363165 s.J~,>+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065889< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743040044.363303F (some fields omitted in printout)AYs@AULs@A0V~? A/Ace&"AAnhNA"AZAbAjArAzAAA d8 AosAgd@AAꝙAW٫Aeկ?AcA$<*As9?2Aֽ:ACIBAs9?JAֽRACIY@ԫy؝ DٓH`?+? @?_˲?@/?n^?)@ I٘i)I9gd@Y G J~<JSJJJ0 F&K x> YJcT~?yͩBAԫ  E F77˩9) B[[ĭ[U~?[e[[[[BZYY i) ݓIiј@C= z))zz*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040044.403165 s, next control iter: 1743040044.763180 s, wait time: 0.360015 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13543&, header.stamp.nsec: 0&0 temperature: 13.572695&* salinity: 33.374981&, density: 1025.000000&* values[0]: 0.568200&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040044.783165 s.\J~,2+AJ"J*J2J:JBJnJvJA(\s@A[;Qs@AI3V~? A9AA&"AAdqhNA"AZAbAjArAzAAA_ AA ssAd@A#<AVXA$A@ų?A|WA/ <*A9?2A׽:AX BA9?JA׽RAX ٘i)I9d@YV G J<JJJJ1 F&K YiT~?y֩>CA F7779-B)BE[[[QU~?[蹩[[[[BZYY i) gIi@IC= #))##*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040044.803165 s, next control iter: 1743040045.183182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040045.203165 s.J~,M+AAQs@As@AG6V~? A>ɪAl+&"AA}uhNA"AZAbAjArAzAAA"V AxsA1~e@AMf<Az AG{AÚ?AeIAm<*A9?2A&׽:AQBA9?JA&׽RAQ٘i)I9~e@Y G Jb<JJJJ2 F&K YpT~?yߩCA F77a9.B)BE[[n[aU~?[e[[[[BZYY i) wXIiۘ@`C= / ))/ / *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040045.223165 s, next control iter: 1743040045.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040045.623165 s.ZJ~,ig+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065889< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743040045.623286F (some fields omitted in printout)J"J*J2J:JBJnJvJAGs@AFѪA&"AAdzhNA"AZAbAjArAzAAACsh Ar>}sA f@AK<A᛽A䣿A@;e?A8A̫<*Az9?2A ֽ:A~BAz9?JA ֽRA~٘i)I9 f@Y G J<JJJJ4 F&K YxvT~?y DA FZ7SI7,9)B[[C[U~?[Ʃ[[[[BZYY i) ;Ii&@D= Sw))SwSw^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040045.643165 s, next control iter: 1743040046.023181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13544 , header.stamp.nsec: 0 0 temperature: 13.572424 * salinity: 33.375008 , density: 1025.000000 * values[0]: 0.568856 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040046.043165 s.J~,Â+AA= ף0t@A(c|#t@A=V~? A9٪A%"AAhNA"AZAbAjArAzAAAhX A\psAf@A;A5A9^AE$?A"&A<*A9?2Aªֽ:AH5BA9?JAªֽRAH5٘i)I9f@Y\ G Jɭ<JJJJ5 F&K Y|T~?y>sDA F{7{79)BE[[[V~?[Eͩ[[[[BZYY i) Ii@D= 7#))7#7#$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040046.063165 s, next control iter: 1743040046.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040046.463165 s.XJ~,𤝋+AJ"J*J2J:JBJnJvJAffffft@Ac]Yt@AfBV~? A,A\W%"AAhNA"AZAbAjArAzAAA/Kg0 A)$|sA!4g@AǻA=AܞA m?A A<*A9?2A&Xֽ:A{BA9?JA&XֽRA{YPY@͞y<=0_ȻٓHd?F?䒿 /?W?#?x?)PY@ I٘i)I94g@Y G J<B=J9JJJ6 F&Kx> YT~?yDA͞ Fŧ7b79)B[[+[V~?[ө[[[[BZYY i) ?v Ii/@D= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040046.483165 s, next control iter: 1743040046.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13545, header.stamp.nsec: 00 temperature: 13.572142* salinity: 33.375000, density: 1025.000000* values[0]: 0.569555F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040046.883165 s.yJ~,<+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065889< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743040046.883298F (some fields omitted in printout)A(t@At@AyGV~? AAY%"AAӍhNA"AZAbAjArAzAAAq쮵 AjĤRsAg@ACYA施ARA#I?AAcY<*A.9?2A 5ֽ:A0BA.9?JA 5ֽRA0٘i)I9g@Y G J<C=JJJJ8 F&K Y*T~?yAEA F779)B[[kĠ[V~?[ک[[[[BZYY i) 9Ii@GC= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040046.903165 s, next control iter: 1743040047.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040047.303165 s.XJ~,gӋ+AJ"J*J2J:JBJnJvJAt@Aut@AMV~? AA!%"AAޕhNA"AZAbAjArAzAAADi|!. AE#sA`h@A[A A@A %?AAq<*A9?2AUֽ:ABA9?JAUֽRA٘i)I9`h@Ym G J<JJJJ9 F&K YQT~?y: EA Fb77V9/B)BE[[_[V~?[Z[[[[BZYY i) Ǫ:Iiۘ@'C= E))E辩E*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040047.323165 s, next control iter: 1743040047.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13546., header.stamp.nsec: 0.0 temperature: 13.571816.* salinity: 33.374989., density: 1025.000000.* values[0]: 0.570249.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040047.723165 s. J~,I+AAzu@A3t@A*SV~? AA9%"AAhNA"AZAbAjArAzAAA A@7sA}h@A<ջA%A A?AnA<*A9?2A+ֽ:ABA9?JA+ֽRA٘i)I9h@Y G J<JJJJ: F&K YxT~?yFA F7!90B)BE[[Mn[ V~?[[[[[BZYY i) -;Ii@C= ~߾))~߾~߾*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743040047.743165 s, next control iter: 1743040048.123197 s, wait time: 0.380032 s rAdjusting time to match Gazebo time: 1743040048.143165 s.X/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: 0.065889< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743040048.143288F (some fields omitted in printout)A ףp=u@Ah8e0u@AYV~? AA>%"AAOhNA"AZAbAjArAzAAAɦ_ A%鲚sA}{i@A|;ABeAWA?AHAC<*Ac9?2A׽:AfBAc9?JA׽RAf٘i)I9{i@YG JI<JJJJ< F&K YT~?yuFA F77{7칹9)B[[C[#V~?[[[[[BZYY i) r*N;IiA@j*D= ־))־־*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040048.163165 s, next control iter: 1743040048.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040048.563165 s.J~,c $+AA3333su@A&fu@A`V~? AjAW%"AAhNA"AZAbAjArAzAAAr`'L A_psAPi@AH<A2A©A?A@A<*A9?2Ad5׽:ABA9?JAd5׽RAY~@,őyH<ٓH @?  ?V 7? &?`~?? YsT~?y!FAő Fŧ7ŧ791B)B!E[[[W+V~?[[[[[BZYY i=) ;Ii@^C= Dξ))DξDξ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040048.603165 s, next control iter: 1743040048.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13547, header.stamp.nsec: 00 temperature: 13.571510* salinity: 33.375004, density: 1025.000000* values[0]: 0.570945F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040048.983165 s.J~,>+AJ"J*J2J:JBJnJvJA\u@Aّu@AhV~? A#A̿%"AAhNA"AZAbAjArAzAAAS~A`'sA{j@A h<A:A A?A^A8<<*A9?2A*׽:Az+BA9?JA*׽RAz+򼙘٘i)I9{j@YG JY<JJJJ> F&K YGT~?y)2GA F77j79)ݯB[[핿[3V~?[G[[[[BZYY i) ;Ii1@ B= >ž))>ž>žU*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040049.003165 s, next control iter: 1743040049.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040049.403165 s.&J~,Y+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075024< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743040049.403294F (some fields omitted in printout)AQu@Au@ApV~? AAt)%"AAhNA"AZAbAjArAzAAAkA#֨sAj@AA2<A0AY|A`e?A 8A<*A9?2A$ֽ:A3BA9?JA$ֽRA3٘i)I9j@YG J@<JJJJ@ F&K YT~?y1GA F77L9)گB"E[[[;Ii@zB= F缾))F缾F缾*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040049.423165 s, next control iter: 1743040049.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13548", header.stamp.nsec: 0"0 temperature: 13.571281"* salinity: 33.374985", density: 1025.000000"* values[0]: 0.571575"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040049.823165 s.J~,>t+AJ"J*J2J:JBJnJvJAGzv@Arv@AfyV~? AmA%"AAhNA"AZAbAjArAzAAA#=xA3aA|sAnk@A𴲺A=+AA`?AAV<*A9?2Aדֽ:A[BA9?JAדֽRA[٘i)I9nk@YJG J<JJJJA F&K YT~?y9GA F)7b792B)ׯB%E[[_[DV~?[[[[[BZYY i) p;Iiܗ@aB= 5))55y.=ͺ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040049.843165 s, next control iter: 1743040050.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040050.243165 s.#J~,d+AAףp=Jv@AC5=v@AV~? A&A%"AAhNA"AZAbAjArAzAAA{A[sAk@Ad/AABqA/?AA8<*A9?2ATֽ:A8BA9?JATֽRA8٘i)I9k@YG J <JJJJB F&K YT~?yALHA F77¹9)ӯB[[;i[ NV~?[ [[[[BZYY i)  elevatorAngleAction: 0.075024< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743040050.663324F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13549, header.stamp.nsec: 00 temperature: 13.570993* salinity: 33.375008, density: 1025.000000* values[0]: 0.572179F (some fields omitted in printout)Av@A|rv@A/V~? A~.Al%"AA4hNA"AZAbAjArAzAAA2A㮶sAel@A;kA΅AބA@?A@A|m<*A9?2AOֽ:AP+BA9?JAOֽRAP+YEݠ@y dlٓH?>??{@n|@w@?Ű?@L?{l?)Eݠ@ I٘i)I9el@YG J<J#:JJJD F&K#x> Y!T~?yuIHA Fb7b7Ĺ93B)ЯB(E[[/>[WV~?[[[[[BZYY i) 7LJ~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075024< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743040051.923288F (some fields omitted in printout)A{G!w@A?w@AV~? ADA%"AAB!iNA"AZAbAjArAzAAAgo.AJB/sASm@AU<AAyA }?A! A<*AI9?2A.׽:A5BAI9?JA.׽RA5٘i)I9m@YG J<B=JJJJH F&K Y?U~?y4`IA Fb7 ʹ9)ƯB[[ᶆ[vV~?[@#[[[[BZYY i) 1><J JJJK F&K6x> Ya>U~?ynJAlo F{7j7͹96B)B/E[[\[V~?[.[[[[BZYY i) ]=  n)) n n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040052.783165 s, next control iter: 1743040053.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040053.183165 s.RJ~,gK+AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075024< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743040053.183305F (some fields omitted in printout)A(\w@Aw@A.V~? AZA%"AAViNA"AZAbAjArAzAAAԎAg_ JsAFo@Aug;A A'jAy?A1uA<*A%9?2A7ֽ:Ac BA%9?JA7ֽRAc ٘i)I9Fo@YG J<B=JJJJL F&K Y&OU~?yuJA Fj7SI7lϹ97B)B0E[[.[cV~?[u4[[[[BZYY i=) rl elevatorAngleAction: 0.083782< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743040054.443302F (some fields omitted in printout)Aq= cx@A]Vx@AtV~? AnA}%"AAΒiNA"AZAbAjArAzAAAS;*BAȠsA6p@AjXAĝAZA t?AQA<*A(9?2AQֽ:A0BA(9?JAQֽRA0٘i)I9p@YG J<JJJJP F&K YpU~?y7 LA F)7ŧ7Թ9)B[[?s[V~?[-E[[[[BZYY i) L+A:J?BJ?nJC5vJAx@A*x@AW~? AuA%"AA#iNA"AZAbAjArAzAAANɾ*A_CsAbnq@A»A䜽AEzUAA?A`%tA<*A79?2Aֽ:Az[BA79?JAֽRAz[Y>a@V\Uy䜽ûٓHs?`?/U?@U??_x ?)>a@ II٘i)I9nq@YG J<Ju=JJJQ F&K9x> YjU~?ysLA\U F77ֹ9:B)B:E[['n[YV~?[J[[[[BZYY i) 2̔ elevatorAngleAction: 0.083782< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743040055.703320F (some fields omitted in printout)AQy@Axx@A$W~? AƂA%"AAiNA"AZAbAjArAzAAAW3A sAr@A K<ALAݮJA?AA:;<*A9?2Ad9׽:AyBA9?JAd9׽RAy٘i)I9r@YG J$<B=JJJJT F&K YbU~?yÞFMA F7777,ڹ9;B)B=E[[!f[V~?[LU[[[[BZYY i) 7ͣ elevatorAngleAction: 0.083782< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743040056.963302F (some fields omitted in printout)Affffy@A ]y@ATW~? AԕA}%"AAjNA"AZAbAjArAzAAA?|ѿAz_TsAIt@Av) AƪA$_;A ?AAXV<*A9?2A`ֽ:A-BA9?JA`ֽRA-YS@S;yƪ ٓHྐྵ?b?kN?8K?@R?-%a?)S@ I٘i)I9It@YG J <J6JJJX F&Kw> YVU~?yNAS; F77j7߹9>B)BDE[[X[u W~?[d[[[[BZYY i) 4 elevatorAngleAction: 0.083782< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743040058.223294F (some fields omitted in printout)AzGz@A?Ң:z@AW~? AA`%"AAjjNA"AZAbAjArAzAAA|ظ?AtAGDv@A<#AYcAX+Av?A6A<*A9?2AXֽ:AlBA9?JAXֽRAl٘i)I9Dv@YG J<JJJJ\ F&K YO4V~?yNêOA F77779?B)BJE[[KK[8W~?[s[[[[BZYY i)  Y`V~?y]ΪPAB! Fb779@B)BME[[B[WW~?[I}[[[[BZYY i)  elevatorAngleAction: 0.092709< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743040059.483290F (some fields omitted in printout)A\z@A z@AƿW~? AA%"AAؼjNA"AZAbAjArAzAAAY?A(e> tAFx@A-Xh<AhAAh?A AP<*Ab9?2AC ׽:ABAb9?JAC ׽RA٘i)I9Fx@YG J\<JJJJ` F&K YvV~?yӪCQA FL9BB)BRE[[s}>[gW~?[[[[[ZZZZ¸>BZYY i¸>U) K=<AAAZo?AZ߿A^<*AI9?2Aoֽ:A(BAI9?JAoֽRA(٘i)I9x@YG J<JJJJa F&K YV~?yتQA F79)zB[[? :[xW~?[[[[[ZZZZBZYY i) -;AܖAA W?Aա޿A<*A99?2Aaֽ:A?XBA99?JAaֽRA?X٘i)I9y@YG J<JJJJc F&K Y{V~?yݪ1RA Fb79)uBUE[[k5[W~?[[[[[ZZZZBZYY i) / YV~?yRAB Fj7Z7w9)hB[E[[,[W~?[Ɠ[[[[ZZZZBZYY i)  ^))Q>Q>Bx*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040061.603165 s, next control iter: 1743040061.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13560, header.stamp.nsec: 00 temperature: 13.567088* salinity: 33.375134, density: 1025.000000* values[0]: 0.580558F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040062.003165 s.~ J~,e4+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083170< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743040062.003319F (some fields omitted in printout)AR+|@A+z|@A7X~? A׫Ad%"AApkNA"AZAbAjArAzAAA$#M@APWtA|@A#Aƾ׼A(A ?A8ۿAZ<*Ad9?2ATֽ:AȮ:BAd9?JATֽRAȮ:٘i)I9|@YG J<JJJJh F&K YW~?yjSA F7 9EB)_B_E[[Ͽ#[~W~?[0[[[[ZZZZBZYY i) 3ӌ))0@>0@>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040062.023165 s, next control iter: 1743040062.403183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743040062.423165 s.uJ~,+AJ"J*J2J:JBJnJvJA{Ga|@Av1ֽ:A:D<BAq9?JA>ֽRA:D<٘i)I9N}@Y,G J;<JJJJi F&K YW~?ySA F779FB)[BbE[[?[oW~?[F[[[[ZZZZBZYY i) 5))@'>@'>^)YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040062.443165 s, next control iter: 1743040062.823177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13561", header.stamp.nsec: 0"0 temperature: 13.566654"* salinity: 33.375141", density: 1025.000000"* values[0]: 0.581435"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040062.843165 s.J~,+AAp= |@A|@A+bX~? A+Ac%"AAưkNA"AZAbAjArAzAAA]DT@AX!#tA٨}@A@)`<A;A(A`x?A ڿAf$<*A9?2A^ֽ:AbC<BA9?JA^ֽRAbC<٘i)I9}@YcG J&W<JJJJk F&K YR5W~?yLGTA Fŧ7b79)YBeE[[[W~?[F[[[[ZZZZBZYY i) Ґl))pP9>pP9>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040062.863165 s, next control iter: 1743040063.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040063.263165 s.J~,Џ+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083170< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743040063.263284F (some fields omitted in printout)J"J*J2J:JBJnJvJA|@AOCĿ|@AwX~? AAnT%"AArkNA"AZAbAjArAzAAA`}c @APr&tA}@A_h<A<AھA`X?A UٿA;*A9?2Aֽ:A<BA9?JAֽRAJJJl F&Kv> YOW~?y+TAھ Fb77m9)WB[[?[X~?[%[[[[ZZZZBZYY iVq) ~Z))AK>AK>oYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040063.283165 s, next control iter: 1743040063.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 135622, header.stamp.nsec: 020 temperature: 13.5663872* salinity: 33.3751302, density: 1025.0000002* values[0]: 0.5819192F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040063.683165 s.lJ~,Z+AA(\}@A/|@AX~? AA%%"AAkNA"AZAbAjArAzAAA;cy @A t)tA]}@A,;A8 =AMWоA?ANؿA::*A9?2A(Nֽ:A<BA9?JA(NֽRA<٘i)I9}@YG J(_;JJJJm F&K YhW~?yTA FZ7SI779GB)hE[[[X~?[[[[[BZYY i ) oH))0I]>0I]>?A76=AžA`=?A׿Ag{j*A9?2ANֽ:A<BA9?JANֽRA<٘i)I9}@YG J5JJJJo F&K YW~?yDSA F779)XBkE[[4 [)X~?[[[[[BZYY i) [6))ko>ko>ozYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040064.123165 s, next control iter: 1743040064.503185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743040064.523165 s.J~,{!+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743040064.523319F (some fields omitted in printout)AHzn}@ACa}@AX~? A A\%"AA6lNA"AZAbAjArAzAAA="?@AVP. .tAi}@A=AX[=AKAz?AֿA*A9?2Aֽ:A;<BA9?JAֽRA;<٘i)I9}@YxG JJJJJp F&K Y`W~?ySA Fŧ779HB)YBnE[[_[))Ѐ>Ѐ>yȘLYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040064.563165 s, next control iter: 1743040064.923179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13563, header.stamp.nsec: 00 temperature: 13.566277* salinity: 33.375141, density: 1025.000000* values[0]: 0.582040F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040064.943165 s.ZdJ~,J]<+AJ"J*J2J:JBJnJvJAq= ף}@Aʖ}@AX~? AA%"AAsXlNA"AZAbAjArAzAAApZZ@A+g0tA}@AXdA{z=A>A?A@ֿA **A9?2Azֽ:Ao=BA9?JAzֽRAo=٘i)I9}@YTG JG JJJJq F&K  9Y$W~? 9y SA F77{79)[BqE[[k[aPX~?[˶[[[[BZYY i) 8))>>{YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743040064.963165 s, next control iter: 1743040065.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040065.363165 s.J~,>W+AA}@A }@AX~? AA%"AA4{lNA"AZAbAjArAzAAAsJd @A*2tA_?}@AAr|=AiTA@l?A V.տAh`*A9?2Auֽ:Ae =BA9?JAuֽRAe =Y@y{=ٓHw@?7m??jԿ 5S? ,` 29?)@ I٘i)I9?}@Y"G JCJ=JJJs F&Kw> YW~?yd\SA Fŧ7b7b9)^BtE[[ [cX~?[,[[[[BZYY icsi) ))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040065.383165 s, next control iter: 1743040065.763181 s, wait time: 0.380016 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13564*, header.stamp.nsec: 0*0 temperature: 13.566260** salinity: 33.375153*, density: 1025.000000** values[0]: 0.581859*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040065.783165 s.kJ~,! r+AJ"J*J2J:J?BJ?nJ15vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056995< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040065.783315F (some fields omitted in printout)A(\~@AbMeQ~@AX~? A6AH~%"AASlNA"AZAbAjArAzAAA]#@AV֛4tA&|@AJ~:A7=AGA"?AVԿAEr*A-9?2A6ֽ:AG=BA-9?JA6ֽRAG=٘i)I9|@YG J+xJJJJt F&K YW~?y5RA FSI787-9JB)cBuE[[ [wX~?[w[[[[BZYY i) Z;Ii f@;= >))>>9ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040065.803165 s, next control iter: 1743040066.183196 s, wait time: 0.380031 s rAdjusting time to match Gazebo time: 1743040066.203165 s.#J~, +AAQE~@A-B8~@AuY~? AA9%"AAlNA"AZAbAjArAzAAAxA@A݆[6tAY|@A4*<A=A;AU?A|ӿA*AH9?2Aս:A=BAH9?JAսRA=٘i)I9Y|@YG JJJJJv F&K YsX~?yRA F77779)hBxE[[u[ЋX~?[[[[[BZYY i) N;Iib@;= A<>))A<>A<>aӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040066.223165 s, next control iter: 1743040066.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040066.623165 s.V)J~,X⧐+AJ"J*J2J:JBJnJvJAGz~@AV{m~@A4/Y~? AA%"AAlNA"AZAbAjArAzAAAa@A8tAA{@Abk<A̳=A2A?AҿAU*A9?2AQս:A=BA9?JAQսRA=٘i)I9{@Y@G JJJJJw F&K Y7!X~?yGRA Fb779KB)lB{E[[ղ[5X~?[ê[[[[BZYY i) D;Ii/`@?z= l>))l>l>yiתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040066.643165 s, next control iter: 1743040067.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13565 , header.stamp.nsec: 0 0 temperature: 13.566378 * salinity: 33.375175 , density: 1025.000000 * values[0]: 0.581463 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040067.043165 s.0J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056995< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200532 time: 1743040067.043335F (some fields omitted in printout)A= ף~@A ~@A*GY~? A AV%"AA mNA"AZAbAjArAzAAAXS@A)#e:tA5{@Ae1<A=AzA?A׽ѿA)*Ap9?2A0ֽ:A[ =BAp9?JA0ֽRA[ =٘i)I95{@YG J%JJJJx F&K Y;X~?yQA F7 9)qB~E[[wھ[޴X~?[ƪ[[[[BZYY iƇ) `6;Ii]@e = ᧷>))᧷>᧷>5تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040067.083165 s, next control iter: 1743040067.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040067.463165 s.W7J~,ݐ+AJ"J*J2J:JBJnJvJAffff~@AQ [~@AT_Y~? A A}%"AA4.mNA"AZAbAjArAzAAAD z@A" YWX~?yQA!e FZ7Z7W 9)vBE[[ WѾ[vX~?[ɪ[[[[BZYY i) NV;IiY@CR = >))K>>֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040067.483165 s, next control iter: 1743040067.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13566, header.stamp.nsec: 00 temperature: 13.566518* salinity: 33.375164, density: 1025.000000* values[0]: 0.580856F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040067.883165 s.y=J~,/+AA(@A!@AwY~? A AD%"AARmNA"AZAbAjArAzAAA@A)89h>tAz@Aa A=AOA?A&ϿA`*A^9?2Aֽ:A$=BA^9?JAֽRA$=٘i)I9z@Y-G JJJJJ{ F&K Y sX~?yQA F77{7"9){BE[[%Ⱦ[^X~?[^̪[[[[BZYY i) L%;IiU@=  >))  > >ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040067.903165 s, next control iter: 1743040068.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040068.303165 s.YDJ~,g+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066297< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743040068.303273F (some fields omitted in printout)AQ@ArD@A))9>9>ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040068.323165 s, next control iter: 1743040068.703180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13567., header.stamp.nsec: 0.0 temperature: 13.566699.* salinity: 33.375183., density: 1025.000000.* values[0]: 0.580207.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040068.723165 s.KJ~,H.+AAz@A z@AY~? AAZ%"AAYmNA"AZAbAjArAzAAA#Y@%@A!GAtAx@Am[KADM=AQ&A ]b?AC̿Aꥼ*A9?2A ֽ:A 4<BA9?JA ֽRA 4<٘i)I9x@YG J'JJJJ~ F&K YX~?yx!IPA F)7ŧ79TB)BE[[[ Y~?[Ѫ[[[[BZYY i) I:IiO@+= )>)))>)>yHÇJ̪YV)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040068.743165 s, next control iter: 1743040069.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040069.143165 s.U/RJ~,*I+AJ"J*J2J:JBJnJvJA ףp@Ab@AY~? AdA%"AAmNA"AZAbAjArAzAAA-c\S@AxfCtA`x@A$A=AHA?A yʿA*A>9?2Aս:A <BA>9?JAսRA <٘i)I9`x@Y+G JJJJJ F&K YX~?yl#OA Fj7Z79)BE[[]A[Y~?[Ԫ[[[[BZYY i) bҹIiL@F,= Y>))Y>Y><ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040069.183165 s, next control iter: 1743040069.543178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040069.563165 s.XJ~,V d+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066297< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743040069.563288F (some fields omitted in printout)A3333@A8'@AY~? AA%"AAmNA"AZAbAjArAzAAA@AՍYDtAww@AY;A=AA@?A EȿAܥ*A(9?2A,ս:A=BA(9?JA,սRA=Y@oyK=M;ٓH4?}?̞? eM`?oB1y?`?)@ I٘i)I9w@YG JJ]JJJ F&Ku> YX~?y$OA! F77{7M9)BE[[[U4Y~?[K֪[[[[BZYY i) yIiH@|b= >))|>>ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040069.583165 s, next control iter: 1743040069.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13568, header.stamp.nsec: 00 temperature: 13.566829* salinity: 33.375202, density: 1025.000000* values[0]: 0.579651F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040069.983165 s._J~,~+AJ"J*J2J:JBJnJvJA\(@Am@AY~? AAEV%"AAnNA"AZAbAjArAzAAA v@A%NEtAJw@A{[<AXZ=ApӽAp?AƿAF*A9?2Aս:A=BA9?JAսRA=٘i)I9Jw@YG JGJJJJ F&K YX~?y% OA" F79)BE[[[=JY~?[yت[[[[BZYY i) h'IiD@3< n>)) n>n>ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040070.003165 s, next control iter: 1743040070.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040070.403165 s.&fJ~,͙+AAQ^@AS1Q@AV Z~? AA/%"AA5nNA"AZAbAjArAzAAA;F @AJiFtA$v@A[<AQ=AJA?AFĿA*A^9?2AԽ:A…<BA^9?JAԽRA…<٘i)I9v@Y/G JsJJJJ F&K YY~?y&NA$ F779)BE[[1P[k`Y~?[ڪ[[[[BZYY i) RIiA@< ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040070.443165 s, next control iter: 1743040070.803179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13569", header.stamp.nsec: 0"0 temperature: 13.566986"* salinity: 33.375229", density: 1025.000000"* values[0]: 0.579092"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040070.823165 s.lJ~,W+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066297< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743040070.823300F (some fields omitted in printout)AGz@A"t@A&Z~? ACA; %"AAo[nNA"AZAbAjArAzAAAɠ @A'GtA>v@A;A=AOA?Ay%ÿA`Q*AO9?2AMս:Aj<BAO9?JAMսRAj<٘i)I9>v@YG JJJJJ F&K Y5Y~?y'_NA% F)7ŧ79)BE[[!ᆾ[vY~?[ܪ[[[[BZYY i) Ii=@< J?))J?J?iYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040070.863165 s, next control iter: 1743040071.223186 s, wait time: 0.360021 s rAdjusting time to match Gazebo time: 1743040071.243165 s.sJ~,dϑ+AAףp=ʀ@A0@AK@Z~? AA%"AA nNA"AZAbAjArAzAAA)z(!@AL.SHtAu@A3A߆=Ac-A?A IA.*A9?2Aıս:A_<BA9?JAıսRA_<I٘i)I9u@YG JƔJJJJ F&K YQY~?y(MA& F77{7w9SB)BE[[z[}Y~?[Vު[[[[BZYY i) 䮦Ii;@d< .\ ?)).\ ?.\ ?㹪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040071.263165 s, next control iter: 1743040071.643176 s, wait time: 0.380011 sQY~?)( rAdjusting time to match Gazebo time: 1743040071.663165 s.zJ~,q+AJ"J*J2J:J?BJ?nJN5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13570, header.stamp.nsec: 00 temperature: 13.567096* salinity: 33.375237, density: 1025.000000* values[0]: 0.578566F (some fields omitted in printout)A@A If@AYZ~? A>A%"AAШnNA"AZAbAjArAzAAAx'W!@A5ItA-Ku@AIA'=AwA`Q,?A ҾAyɉ*A9?2A(%ֽ:A<BA9?JA(%ֽRA YnY~?y)MA( FZ7Z7B9)B[[ h[Y~?[[[[[BZYY i瞽) ŻIiz6@ < . ?))qy. ?. ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040071.683165 s, next control iter: 1743040072.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040072.083165 s.DJ~,R+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243597@ elevatorAngleAction: -0.077589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743040072.083286F (some fields omitted in printout)A)\5@A0(@AsZ~? A~ Ax%"AAnNA"AZAbAjArAzAAAfމ_"@A@!dJtAt@A9(gA܄=A>AB??A@A䆼*A9?2ARWֽ:A.<BA9?JARWֽRA.<٘i)I9t@YG J'C=JJJJ F&K YEY~?y7)KMA) F77{7 9)BE[[$U[ʺY~?[[[[[BZYY i) ^.IiR2@@< ?)) ??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040072.103165 s, next control iter: 1743040072.483175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040072.503165 s.J~,P4 +AJ"J*J2J:JBJnJvJARk@AVy^@AtZ~? A!A%"AAnNA"AZAbAjArAzAAAS"W"@A Km KtAht@A< A=A<AQ?A 0A%*A9?2ACԽ:As<BA9?JACԽRAs<٘i)I9ht@YG JwJJJJ F&K YY~?yi)LA* F77!9)BE[[B[Y~?[ [[[[BZYY i) d7Ii.@m< ?))??bYFFF]Waiting for Gazebo time sync: latest Gz time: 1743040072.523165 s, next control iter: 1743040072.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13571, header.stamp.nsec: 00 temperature: 13.567212* salinity: 33.375248, density: 1025.000000* values[0]: 0.578110F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040072.923165 s.>J~,;+AA{G@AnB<@ASZ~? A"AЉ%"AAoNA"AZAbAjArAzAAAʇk7#@A<HKtAIs@A~:Ak]=AL=A^?A A%*A9?2AԽ:A=BA9?JAԽRA=٘i)I9s@Y|G JօJJJJ F&K YY~?y)LA, F{7#9)BE[[c.[Y~?[\[[[[BZYY i) Ii.+@W< S?))S?S?yΞYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040072.943165 s, next control iter: 1743040073.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040073.343165 s.LA- Fb7b7m%9)BE[[{[Z~?[[[[[BZYY i) x!Ii4(@FM< #"?))#"?#"?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040073.363165 s, next control iter: 1743040073.743179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13572*, header.stamp.nsec: 0*0 temperature: 13.567293** salinity: 33.375252*, density: 1025.000000** values[0]: 0.577690*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040073.763165 s.8J~,#p+AA @A@A7Z~? A#A~k%"AA{loNA"AZAbAjArAzAAAV/$@A>60rtLtA s@Al<AO=A=A r?A`;XA%\*AJ9?2AԽ:A=BAJ9?JAԽRA=Yq@3=y=Pm<ٓH`r?Ո?n??@˂Lx?`j?)q@ I٘i)I9 s@YG JJ ;JJJ F&Kt> Y/Y~?y)KA=. F778'9RB)BE[[[Z~?[[[[[BZYY i) 0Ii#@I< &?))v&?&?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040073.783165 s, next control iter: 1743040074.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040074.183165 s.ˢJ~,g+AJ"J*J2J:JBJnJvJA(\B@Av5@A6Z~? AR$Aa%"AAۓoNA"AZAbAjArAzAAAumq%@A?5/LtAr@A+<A`=A=Ax?A"ƠA6Y*A[9?2Aս:A =BA[9?JAսRA =٘i)I9r@YG J鏼JJJJ F&K YWZ~?yo(KA0 Fj7j7)9)BE[[[U/Z~?[[[[[BZYY i) Mt@Ii3@< ܲ+?))?ܲ+?ܲ+?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040074.203165 s, next control iter: 1743040074.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040074.603165 s.44J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260250@ elevatorAngleAction: -0.077589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743040074.603277F (some fields omitted in printout)AQx@Ad]Fk@A>[~? A$AY%"AAHoNA"AZAbAjArAzAAA},nV&@AV1LtAr@A_:Ay=Aq=A{?AUA-*A:?2A,EԽ:A=BA:?JA,EԽRA=٘i)I9r@YZG JPJJJJ F&K Y3Z~?y''KA1 FSI7SI7*9)BE[[<Ľ[GZ~?[J[[[[BZYY i) :OIiK@< H0?)) H0?H0?ŪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743040074.623165 s, next control iter: 1743040075.003175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13573, header.stamp.nsec: 00 temperature: 13.567399* salinity: 33.375271, density: 1025.000000* values[0]: 0.577215F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040075.023165 s.ZJ~,|+AJ"J*J2J:J?BJ?nJ5vJAHz@A)x @AI)[~? A$AU%"AAoNA"AZAbAjArAzAAAMǕE&@AnqLtAq@AzAK=Af >A,?A`fA~*A:?2AcԽ:AI=BA:?JAcԽRAI=٘i)I9q@YG J4JJJJ F&K YOZ~?y'JA3 F)7b7,9)įB[[H[_Z~?[[[[[BZYY i)  s_Ii@!H< f5?))f5?f5?3ɪYEeYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040075.063165 s, next control iter: 1743040075.423183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743040075.443165 s.4öJ~,1]ܒ+AAq= @Av5yւ@AVC[~? A$A U%"AA9 pNA"AZAbAjArAzAAAR7K'@AiLtAK(q@AehAM=AE">A %?Al?Ai*A,9?2AIDս:AqX =BA,9?JAIDսRAqX =٘i)I9(q@YG JJJJJ F&K YkZ~?y`&mJA4 F77b.9QB)ȯBE[[Nl[wZ~?[q[[[[BZYY i) FnIi@O< J:?))J:?J:?GͪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040075.463165 s, next control iter: 1743040075.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13574, header.stamp.nsec: 00 temperature: 13.567492* salinity: 33.375267, density: 1025.000000* values[0]: 0.576727F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040075.863165 s.+J~,>+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743040075.863342F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AzS @A_][~? Au$AYW%"AA1pNA"AZAbAjArAzAAA$'@AdLtAYp@AɴBA7N=A-7>A|?A .?A*Ae9?2A\}ս:An =BAe9?JA\}սRAn =Y@E6>ytK=>CٓH Hh?@ƿd-??|? z?sV?)@ I٘i)I9p@YyG J啼B=JH<JJJ F&Ks> YZ~?y$JAE6>5 F7-09)˯BE[[[Z~?[[[[[BZYY i) ~Ii@&< \!??))ot\!??\!??fѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040075.903165 s, next control iter: 1743040076.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040076.283165 s.9RJ~,+AA(\O@AHPB@Adw[~? A$A\%"AA#YpNA"AZAbAjArAzAAA<:܆(@ALtA &p@AyWA =AQK>Av?A`:?AUf*A9?2Aս:A=BA9?JAսRA=٘i)I9&p@Y)G JqC=JJJJ F&K YhZ~?yB#IA7 Fj7Z719PB)ϯBE[[̡[ Z~?[[[[[BZYY i) xIit @ހ< tD?))9tD?tD?3ժYFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743040076.303165 s, next control iter: 1743040076.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13575., header.stamp.nsec: 0.0 temperature: 13.567588.* salinity: 33.375305., density: 1025.000000.* values[0]: 0.576223.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040076.703165 s.ֺJ~,-+AJ"J*J2J:J?BJ?nJ5vJAQ@Ax@Aa[~? A#Aye%"AApNA"AZAbAjArAzAAAƠv$)@ABLtAAo@A;AsT=A^>Ap?Aڬ?Adr*A:?2Adӽ:A#=BA:?JAdӽRA#=٘i)I9o@YG JqB=JJJJ F&K Y5Z~?y!:IA8 F77j739)ӯBE[[J[OZ~?[[[[[BZYY i) 'Iiq@]< H?)) H?H?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040076.723165 s, next control iter: 1743040077.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040077.123165 s.9J~,eG+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743040077.123281F (some fields omitted in printout)AGẃ@A[z4խ@AW[~? A"AGq%"AApNA"AZAbAjArAzAAAB$)@A&,KtAo@Ail_<A=AQr>A@f?A ?Aﱼ*A:?2Akӽ:A*=BA:?JAkӽRA*=٘i)I9o@YzG JC=JJJJ F&K YZ~?y$ HA9 F)7ŧ759OB)ׯBE[[iҙ<[Z~?[[[[[BZYY io) )Ii@< nM?))nM?nM?ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040077.143165 s, next control iter: 1743040077.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040077.543165 s.IJ~,b+AJ"J*J2J:JBJnJvJA= ף@AƄ@A?[~? A"A#%"AAA%Z?A?A*A :?2AԽ:A8=BA :?JAԽRA8=٘i)I9pn@YG JJJJJ F&K YZ~?ymHA; Fŧ7b7X79)ۯBE[[=[NZ~?[[[[[BZYY i) EIi@g< R?))R?R?BܪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040077.563165 s, next control iter: 1743040077.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13576, header.stamp.nsec: 00 temperature: 13.567739* salinity: 33.375298, density: 1025.000000* values[0]: 0.575665F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040077.963165 s.|J~,}+AAffff&@AW[@A[~? A!A%"AAupNA"AZAbAjArAzAAAI*@A dJtAm@AG;A#g=A>A@J?A`/l?A汼*A:?2AԽ:A2F=BA:?JAԽRA2F=Yp=A>ytf=޼;ٓHb?ѿ`ɳ???to?@v'w? p?)p= I٘i)I9m@YG JJi-<JJJ F&Kbs> Y[~?y+HAA>< F7777#99NB)߯BùE[[Kk=[[~?[r[[[[BZYY i) Ii?h< W?))ysW?W?ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040078.003165 s, next control iter: 1743040078.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040078.383165 s.J~,8+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237329@ elevatorAngleAction: -0.086951< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743040078.383286F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AzO@A[~? AA7%"AAqNA"AZAbAjArAzAAAb+@A4ItA@Em@A-^Aa=Aژ>AT8?A1?An*A9?2Aս:A\=BA9?JAսRA\=٘i)I9Em@YhG JİB=JJJJ F&K Y-[~?yGA= Fb77:9)B[[b=[ ![~?[[[[[BZYY i) (Ii?< 6\?))۔6\?6\?y?YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743040078.423165 s, next control iter: 1743040078.783177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13577", header.stamp.nsec: 0"0 temperature: 13.567883"* salinity: 33.375317", density: 1025.000000"* values[0]: 0.575033"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040078.803165 s.|AJ~,g+AA둄@Aky億@A\~? AA%"AADqNA"AZAbAjArAzAAAeR+3,@A+ItAXl@AMA=AN>A,%?A Փ?A*A:?2AaԽ:A=BA:?JAaԽRA=٘i)I9l@YG J/C=JJJJ F&K Y9H[~?yW(GA? F7{7<9)BƹE[[`=[9[~?[D[[[[BZYY i) 𗳼Iid?s< a?)) a?a?LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040078.823165 s, next control iter: 1743040079.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040079.223165 s.gJ~,HΓ+AJ"J*J2J:J!?BJ!?nJG5vJAzDŽ@A}@A,,\~? AA-%"AAzkqNA"AZAbAjArAzAAAL^,@A{cAHtAl@AVcA=AW>A:?A@pb?Aﴼ*AM:?2A Խ:A^=BAM:?JA ԽRA^=٘i)I9l@YG JXJJJJ F&K YZc[~?yFA@ F{7Z7>9MB)BɹE[[=[ZR[~?[r[[[[BZYY i) PIi?tĎ< f?))f?f? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040079.243165 s, next control iter: 1743040079.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040079.643165 s.zJ~,*+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086951< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743040079.643297F (some fields omitted in printout)A ףp@A>=e@AE\~? AXA%"AA7qNA"AZAbAjArAzAAAji-@A}>GtAk@AAV=A~>>A ?A`/*?A*A :?2ABԽ:Aʂ=BA :?JABԽRAʂ=٘i)I9k@YUG JJJJJ F&K Y~[~?yPFAA F77M@9LB)B̹E[[- >[0k[~?[w[[[[BZYY i) w¼Ii?u< k?))k?k?6YGYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040079.663165 s, next control iter: 1743040080.043180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13578, header.stamp.nsec: 00 temperature: 13.568052* salinity: 33.375340, density: 1025.000000* values[0]: 0.574437F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040080.063165 s.J "J *J 2J J~:J?BJ?nJ35,[ +AvJA33333@A^(&@A_\~? AAW%"AA̸qNA"AZAbAjArAzAAAU.@Am$$FtA j@Ab;Aݮ=A>A?A`?A4Ƽ*A:?2A^Խ:AF=BA:?JA^ԽRAF=Y@ ">5>yݮ=rf;ٓH`ܣ?׿*? ?/??Ե c?`"?)@ "> I٘i)I9j@YG JJ;<JJJ F&Kr> Y[~?yEEA5>C F7B9IB)BιE[[]%>[[~?[Y[[[[BZYY i) ɼIi?P< 2p?))1xr2p?2p?7YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040080.083165 s, next control iter: 1743040080.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040080.483165 s.x_J~,+AA\h@Af([@AXx\~? AA?%"AA3qNA"AZAbAjArAzAAAjp.@Al DtA)5j@A :<A[=A>A@?Aý?Aμ*A9?2AԽ:AW=BA9?JAԽRAW=٘i)I95j@YG J=ʼJJJJ F&K Y[~?y eEAD F77C9)BѹE[[[3>[D[~?[[[[[BZYY i) мIi?}< u?))Zu?u?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040080.503165 s, next control iter: 1743040080.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13579, header.stamp.nsec: 00 temperature: 13.568204* salinity: 33.375347, density: 1025.000000* values[0]: 0.573756F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040080.903165 s. J~,9+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.256550@ elevatorAngleAction: -0.086951< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743040080.903298F (some fields omitted in printout)AQ@A~O@A|\~? AtAg%"AAirNA"AZAbAjArAzAAAEb5/@A!CtAτi@A5k<A\=Ai>A?A@??A=Լ*A:?2ARҽ:A =BA:?JARҽRA =٘i)I9i@YG JѼJJJJ F&K Y,[~?yDAE Fb77E9)B[[%G>[[~?[[[[[BZYY i) =ؼIi?r< z?)) z?z?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040080.923165 s, next control iter: 1743040081.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040081.323165 s.yJ~,2T+AAGzԅ@A6sHjDž@A}\~? A-As%"AAl+rNA"AZAbAjArAzAAAr,/@ABBtAh@AG!<A=A D>A` ~?Ag?A׼*A:?2Aӽ:A =BA:?JAӽRA =٘i)I9h@Y G JXּJJJJ F&K Yd[~?yzDAG F7xG9HB)BԹE[[ B\>[[~?[[[[[BZYY i) V߼Ii0?S4i< /?))/?/?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040081.343165 s, next control iter: 1743040081.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13580*, header.stamp.nsec: 0*0 temperature: 13.568438** salinity: 33.375374*, density: 1025.000000** values[0]: 0.573044*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040081.743165 s.WJ~,~o+AJ"J*J2J:J?BJ?nJ5vJAףp= @A7n1@AX\~? AA5%"AA8QrNA"AZAbAjArAzAAAײK10@AmL))@tAh@A`V9A(`=A>AZ?A`z+?Aּ*A:?2AԽ:A =BA:?JAԽRA =٘i)I9h@YD G J9׼B=JJJJ F&K Y\~?yODAH FZ7Z7CI9GB)B׹E[[p>[[~?[=ߪ[[[[ZZ¸BZYY i¸=) ӼIi?`< ?))??YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040081.763165 s, next control iter: 1743040082.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040082.163165 s.s}"J~,q+AvPublished 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: 0.4199722 time: 1743040082.163279F (some fields omitted in printout)A@@Aw2@A \~? A+A%"AAvrNA"AZAbAjArAzAAA..|0@A3?tAgg@AAŷ=A>A3?A?ADּ*A :?2Aս:A =BA :?JAսRA =Y>2>y÷=xٓH |P?`mݿA?@/C?6j?g?`z?)> I٘i)I9gg@Y G JּC=J~)<JJJ F&Kr> Y\~?yECA2>I F)7)7 K9FB) BڹE[[Ǭ>[[~?[Uݪ[[[[ZZBZYY i) tǼIiڥ?SKT< 3?))?r3?3?rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040082.183165 s, next control iter: 1743040082.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040082.583165 s."(J~,.S+AJ"J*J2J:J?BJ?nJ5vJA)\u@A5h@A\~? Ao A$%"AArNA"AZAbAjArAzAAA!k0@A9=tAf@AA iA=A;A>A`?A Y?A(:*AT:?2ABս:A3<BAT:?JABսRA3<٘i)I9f@Y] G JJJJJ F&K Y3\~?y<CAK F777L9)BݹE[[>[\~?[@۪[[[[ZZBZYY i) /`Iiۜ?H< _Ƈ?))_Ƈ?_Ƈ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040082.623165 s, next control iter: 1743040082.983186 s, wait time: 0.360021 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13581, header.stamp.nsec: 00 temperature: 13.568620* salinity: 33.375401, density: 1025.000000* values[0]: 0.572273F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040083.003165 s.} 0J~,a4+AAR@Av5y@A ]~? AAz[%"AArNA"AZAbAjArAzAAA01@Aސi;tAe@A>A@=AС?A@?A@DG?A&W*Ac=:?2Aӽ:AO<BAc=:?JAӽRAO<٘i)I9e@Y G JJJJJ F&K YL\~?y3BAL F77j7N9)B[[\>[C0\~?[٪[[[[ZZBZYY i) MIi?yW>< -_?)) -_?-_?yq=`תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040083.023165 s, next control iter: 1743040083.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040083.423165 s.u6J~,۔+AJ"J*J2J:Je?BJe?nJ5vJvPublished 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: 0.4199972 time: 1743040083.423297F (some fields omitted in printout)A{G@A>Ԇ@A%]~? AA=%"AArNA"AZAbAjArAzAAA烙Y1@A"9tA/d@A9RA{=A_y ?A`?A?A%*AJ:?2Aӽ:Al<BAJ:?JAӽRAl<٘i)I9d@YT G J:JJJJ F&K Ye\~?y)BAM F77mP9EB)BE[[ԡ>[H\~?[֪[[[[ZZBZYY i) B8Iih?5< !?))!?!?֮YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040083.463165 s, next control iter: 1743040083.823178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13582, header.stamp.nsec: 00 temperature: 13.568905* salinity: 33.375401, density: 1025.000000* values[0]: 0.571376F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040083.843165 s.[a\~?[Ӫ[[[[ZZBZYY i) $Ii?&,< X?))X?X?YYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040083.883165 s, next control iter: 1743040084.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040084.263165 s.J "J *J 2J :J (?BJ (?nJ A5vJ 'DJ~,b+AAL@A?@AT]~? AAP%"AAn.sNA"AZAbAjArAzAAA-ב01@A5.5tA|c@AO<A+<A?A {R?A@ ?Ax*AJK:?2AԽ:A[BAJK:?JAԽRA[Y>{?y<O<ٓHc?;pׇ?Nq??jq? h?H?)> I٘i)I9|c@Ys G J˼J(JJJ F&K@s> Y\~?yPwAA?P Fj7j7T9@B)$BE[[7Ҷ>[y\~?[=Ѫ[[[[ZZBZYY iK=) ȌIi_z?< < { elevatorAngleAction: 0.069481< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743040084.683278F (some fields omitted in printout)A(\@A|]u@A7l]~? AAS%"AAERsNA"AZAbAjArAzAAAZ`12@Ar3tAcb@A?<Ad'<A@?A?AW?Ad*ABD:?2Aս:ABABD:?JAսRA٘i)I9b@Y G JJJJJ F&K YX\~?yQAAQ FU9))B[[_>[\~?[RΪ[[[[ZZBZYY i) lIih??< ߔ?)) ߔ?ߔ?}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040084.683165 s, next control iter: 1743040085.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743040085.103165 s.QJ~,F+AJ"J*J2J:J?BJ?nJ5vJAQ@AwF@A]~? AA%"AAusNA"AZAbAjArAzAAAեlyx2@AX1tA=b@Aa;A늸A?A?A?A-4*AT`:?2A.Jӽ:A8pBAT`:?JA.JӽRA8p٘i)I9b@Y G JlJJJJ F&K Y\~?yߪ,AAS F77W9?B)+BE[[s>[o\~?[9˪[[[[ZZBZYY i=) "pIi`X?T{ < ?)) ?? (YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040085.123165 s, next control iter: 1743040085.503178 s, wait time: 0.380013 s2\~?)2ߪ rAdjusting time to match Gazebo time: 1743040085.523165 s.WJ~,,}a+AAHz@A5| @A]~? AA%"AAsNA"AZAbAjArAzAAAMGo2@A=J/tAUb@AAA"?A3?A l]?A*Af_:?2ATJӽ:A殦BAf_:?JATJӽRA殦٘i)I9Ub@Y G J JJJJ F&K Y\~?yڪAAT FcY9),BE[[+>[\~?[Ǫ[[[[ZZBZYY i) -i[IiJ?I< 6?))6?6?y)=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040085.543165 s, next control iter: 1743040085.923252 s, wait time: 0.380087 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13584, header.stamp.nsec: 00 temperature: 13.569263* salinity: 33.375423, density: 1025.000000* values[0]: 0.570077F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040085.943165 s.J "J *J 2J :J ?BJ ?nJ 5vJ _d^J~,_]|+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.079439< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199382 time: 1743040085.943292F (some fields omitted in printout)Aq= #@A"h@An]~? A1A+%"AAŻsNA"AZAbAjArAzAAAJ ߭3@A1fc,tA\=b@AQTAAr'?A@}?A )?AT*AR:?2Asӽ:A%мBAR:?JAsӽRA%м٘i)I9=b@Y G J=aB=JJJJ F&K Y\~?y֪@AU Fj7Z7.[9>B)E[[k>[\~?[{Ī[[[[BZYY i) FIin=?y; ?))??yY=5.*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040085.983165 s, next control iter: 1743040086.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040086.363165 s.eJ~,>+AAY@AL@A]~? A$Ay%"AA8sNA"AZAbAjArAzAAA[)H3@A4n*tADb@A<^A/A,?A7B?A@i?A \;*AVE:?2AWԽ:ANBAVE:?JAWԽRANY>-?y/?q^ٓH? u?6?{f?@fNj?)> I٘i)I9Db@Y G J:C=J+JJJ F&KNr> Y ]~?yЪAA-?W F77{7\9)[[ 2>[\~?[[[[[BZYY ii=) `5Ii=*?; p?))up?p?k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040086.383165 s, next control iter: 1743040086.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13585&, header.stamp.nsec: 0&0 temperature: 13.569192&* salinity: 33.375420&, density: 1025.000000&* values[0]: 0.570008&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040086.783165 s.akJ~,+AJ"J*J2J:JBJnJvJA(\@AS@AX]~? AA%"AAFtNA"AZAbAjArAzAAA!U׋3@A'tAfb@Ac%AexVAe72?A ?A@*?A;*A7:?2A ս:ABA7:?JA սRA٘i)I9fb@Y G Jl;JJJJ F&K Y!]~?y˪VAAX F)7ŧ7^9:B)&BE[[>[S ]~?["[[[[BZYY i'=) $Ii?$; aE?))(aE?aE?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040086.803165 s, next control iter: 1743040087.183182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040087.203165 s.sJ~,͕+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260077> elevatorAngleAction: 0.066482< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743040087.203286F (some fields omitted in printout)AQň@A8@Ab]~? AA%"AA!tNA"AZAbAjArAzAAAA,3@Ay ;%tA9b@A_3;AuA7s7?A`?A?A .<*ALO:?2Aӽ:AThBALO:?JAӽRAThI٘i)I9b@Y G J <JJJJ F&K Y7]~?yŪAAY F77`98B)#BE[[Q?[!]~?[.[[[[BZYY i) ZIi' ?R; ?)) ??%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040087.223165 s, next control iter: 1743040087.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040087.623165 s.XyJ~,a+AJ"J*J2J:J?BJ?nJ5vJAG@A@@A$ ^~? A'߫Ar%"AACtNA"AZAbAjArAzAAA34@A%W"tAb@Ax6<ArA/dԝ;  ?)) ? ?*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040087.643165 s, next control iter: 1743040088.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13586 , header.stamp.nsec: 0 0 temperature: 13.569017 * salinity: 33.375435 , density: 1025.000000 * values[0]: 0.570285 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040088.043165 s.J~,+AA= ף0@A!#@A^~? AګA2%"AActNA"AZAbAjArAzAAA;Q4@AtAVc@AY^<AgQA'A?A$;?Ap)?AP<*A J:?2A ս:AD BA J:?JA սRAD ٘i)I9Vc@Y\ G Jk<JJJJ F&K Yc]~?yyBA\ F77#d97B)BE[[a ?[P]~?[[[[[BZYY i) }Ii>m; x?))x?x?yV=*YOYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743040088.063165 s, next control iter: 1743040088.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040088.463165 s.J "J *J 2J :J ?BJ ?nJ #5vJ lJ~,D+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066482< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743040088.463310F (some fields omitted in printout)Afffff@Ah[Y@A4^~? AիA6&%"AA Yw]~?yNmBAF?] F777e96B)BE[[Q?[g]~?[J[[[[BZYY i) ÆƻIi9>Fm; 0?)) x0?0?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040088.483165 s, next control iter: 1743040088.863189 s, wait time: 0.380024 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13587, header.stamp.nsec: 00 temperature: 13.568711* salinity: 33.375454, density: 1025.000000* values[0]: 0.570788F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040088.883165 s.yJ~,<8+AA(@Aa@AI^~? AЫAă%"AAtNA"AZAbAjArAzAAA14$4@A8FHtA\Ld@A*<Am&AK?A?Aը?AZ<*AWD:?2A `ս:ABAWD:?JA `սRA٘i)I9Ld@Y G Jt<JJJJ F&K Y#]~?y#BA_ Fb77g93B)BE[[-?[I~]~?[[[[[BZYY i) :Ii}>A; ?)) ??}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040088.903165 s, next control iter: 1743040089.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040089.303165 s.bJ~,gS+AJ"J*J2J:J4?BJ4?nJN5vJAщ@A6ĉ@A.^^~? A˫A%"AAtNA"AZAbAjArAzAAAQuYk5@A|tAd@A A➽AP?Aa?An?A<*A\:?2AYӽ:ABA\:?JAYӽRA٘i)I9d@YI G J<JJJJ F&K YI]~?y8CA` Fŧ7i92B) BE[[XV?[Ք]~?[ݢ[[[[BZYY i) Iir>]; ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040089.323165 s, next control iter: 1743040089.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13588*, header.stamp.nsec: 0*0 temperature: 13.568357** salinity: 33.375469*, density: 1025.000000** values[0]: 0.571478*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040089.723165 s.J~,Hn+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066482< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743040089.723268F (some fields omitted in printout)Az@A @Agr^~? AƫAF%"AAmtNA"AZAbAjArAzAAA)2L5@A|MtAte@AGaACҟAU?A ?A#?Ai<*A\:?2A,Խ:A;HBA\:?JA,ԽRA;H٘i)I9te@Y G J<JJJJ F&K Yo]~?y̡CAa FNk91B)BE[[!?[2]~?[ޝ[[[[BZYY i) FWIi=>n : N|?))N|?N|?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040089.743165 s, next control iter: 1743040090.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040090.143165 s.X/J~,*+AJ"J*J2J:JBJnJvJA ףp=@Ab+h0@AL^~? AA%"AAuNA"AZAbAjArAzAAALi 5@AxutAf@AK ,ALTA[?A X?A?AX<*A[:?2A^Խ:AwBA[:?JA^ԽRAw٘i)I9f@Y G JF<JJJJ F&K Y]~?yDAc Fj7Z7m9)B[['?[Z]~?[[[[[BZYY i) Iij>ٸ: 4J?))4J?4J?-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040090.163165 s, next control iter: 1743040090.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040090.563165 s.J~,V +AA3333s@AD)f@Aٙ^~? A;A%"AAuNA"AZAbAjArAzAAA]vP5@Aޢu/ tAf@A:A㝽ATs`?Ay?A5?A/E<*AZ:?2Aս:A( BAZ:?JAսRA( Yvc(?|`?y㝽KٓH`g? 橿?@w?ly?@WG\?)vc(? I٘i)I9f@Yd G J<J?JJJ F&KKu> Y]~?yݔmDA|`?d F77{7n9/B)BE[[-?[]~?[j[[[[BZYY i) 2Ii=,9: ?))={??F*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040090.583165 s, next control iter: 1743040090.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13589, header.stamp.nsec: 00 temperature: 13.567966* salinity: 33.375496, density: 1025.000000* values[0]: 0.572259F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040090.983165 s.J~,쾖+AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245350> elevatorAngleAction: 0.066482< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743040090.983313F (some fields omitted in printout)A\@A,뛊@A ^~? AA|%"AA)]<AfؙAk?A`?A;?AYK<*AWn:?2APս:ANQBAWn:?JAPսRANQ٘i)I9g@Y G J<JJJJ F&K Y]~?yUAEAg F7{7xr9+B)BE[[O8?[q^~?[K[[[[BZYY i) 9I0I?iGǿ ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040091.423165 s, next control iter: 1743040091.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13590", header.stamp.nsec: 0"0 temperature: 13.567598"* salinity: 33.375484", density: 1025.000000"* values[0]: 0.573066"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040091.823165 s.J~,>+AJ"J*J2J:J?BJ?nJ5vJAGz@A,`p@AU^~? AgAW%"AAGuuNA"AZAbAjArAzAAATo6@A]tAkh@AJD<AA)p?A{?A$?A4<*Am:?2ACս:AKBAm:?JACսRAK٘i)I9kh@Yt G J8<JJJJ F&K Y^~?yEAh F{7j7Ct9*B)BE[[?=?[W^~?[s[[[[BZYY i) ս:I I?i9ǽG f?))f?f?*Y/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040091.843165 s, next control iter: 1743040092.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040092.243165 s.J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066482< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743040092.243285F (some fields omitted in printout)Aףp=J@Az2=@Al^~? AA%"AAuNA"AZAbAjArAzAAAf6@A21XsAh@AHK;AOgA,u?A%?A%?A<*Ak:?2A#ս:ABAk:?JA#սRA٘i)I9h@Y G J <JJJJ F&K Y"^~?yyFAi F77v9)B[[>C?[*^~?[m|[[[[BZYY i) ;I I?i  04?))04?04?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040092.263165 s, next control iter: 1743040092.643182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040092.663165 s.J~,q*+AJ"J*J2J:J?BJ?nJ5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13591, header.stamp.nsec: 00 temperature: 13.567228* salinity: 33.375515, density: 1025.000000* values[0]: 0.573821F (some fields omitted in printout)A@A2rr@A#^~? AA;%"AA,uNA"AZAbAjArAzAAA> R6@A{RֶsA4i@A4AA11z?A ?A`v?A=<*Ai:?2Aս:ABAi:?JAսRAY4B?Lz?y2ٓH@?@w?P?@Ƭ@\\?w`?)4B? I٘i)I9i@Y$G J&<J%O<JJMFJ F&Ku> Y2^~?yrxFALz?k F)7ŧ7w9(B)ܯB E[[bI?[>^~?[Qv[[[[BZYY i) M;I I?iR6 p?))L~p?p?y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040092.683165 s, next control iter: 1743040093.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040093.083165 s.DJ~,SE+AA)\µ@Atys@Aw_~? AAȰ%"AAuNA"AZAbAjArAzAAA17@AEsAfj@A\PA'yAK?A?Ah?A<*Af:?2Aս:A'BAf:?JAսRA'٘i)I9j@Y|G J<JJJJ F&K YlB^~?y2kFAl F77y9%B)ԯB E[[ O?[R^~?[p[[[[BZYY i) Mp;IsI?i7. ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040093.103165 s, next control iter: 1743040093.483183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743040093.503165 s.J~,P4`+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066482< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743040093.503302F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@Akzދ@Ae_~? AbA(%"AAuNA"AZAbAjArAzAAAqC7@A'@sA&j@AomSANA8?Ad*?Ad?AV<*ATv:?2A2ս:AZBATv:?JA2սRAZ٘i)I9j@YG JĨ<JJJJ F&K Y4R^~?yc=GAn F)7ŧ7n{9#B)ίB E[[T?[f^~?[i[[[[BZYY i) ;II?iRP ?))??D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040093.523165 s, next control iter: 1743040093.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13592, header.stamp.nsec: 00 temperature: 13.566880* salinity: 33.375519, density: 1025.000000* values[0]: 0.574573F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040093.923165 s.>J~,{+AA{G!@A}$%=@A(_~? AAz%"AA!uNA"AZAbAjArAzAAAԙv7@AksA2k@A.̻AnA\؄?Ayp?A [d?Ay<*As:?2Aս:AmXBAs:?JAսRAmX٘i)I92k@Y%G Jʢ<JJJJ F&K Ya^~?y\GAo Fj7Z79}9)ʯB[[Z?[y^~?[b[[[[BZYY i=) Z;IH?i4n [?))[?[?*YU!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040093.943165 s, next control iter: 1743040094.323184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743040094.343165 s.ֽ:ABAp:?JAe>ֽRA٘i)I9k@YtG Jњ<JJJJ F&K Yq^~?yKUHAp F77j79"B)įBE[[~`?[^~?[\[[[[BZYY i) w;IH?iO; f *7?))*7?*7?C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040094.363165 s, next control iter: 1743040094.743177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13593&, header.stamp.nsec: 0&0 temperature: 13.566533&* salinity: 33.375519&, density: 1025.000000&* values[0]: 0.575277&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040094.763165 s.:J~,,ذ+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075256< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743040094.763316F (some fields omitted in printout)Ǎ@AP@AH_~? ABAF%"AA+vNA"AZAbAjArAzAAA>H7@AfsAv/l@AR?<AOA2?A^?A ?At<*A^i:?2Aֽ:ABA^i:?JAֽRAY{\??yM0@<ٓH`)?*7 $?.?Kly??`M?){\? I٘i)I9/l@YG Jˑ<B=JK<JJJ F&K{v> Y^~?yM^HA?r Fŧ7b7΀9B)BE[[&Hf?[ǝ^~?[U[[[[BZYY i) IAt F{7j7c9B)BE[[q?[^~?[F[[[[BZYY i) + elevatorAngleAction: 0.075256< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743040096.023315F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.@Ar !@A8u_~? ABlA%"AAovNA"AZAbAjArAzAAAQb]8@A ^sAُm@AASAwؑ?A?A ?A0<*A`:?2Agս:AFBA`:?JAgսRAF٘i)I9m@YG J<JJJJ F&K Y&^~?y<6qIAv F{7.9)B[[Tw?[^~?[Q?[[[[BZYY i) A.7+AJ"J*J2J:JBJnJvJA@Aя@A_~? A{^A(%"AAvNA"AZAbAjArAzAAA~N8@AQlsAKn@AbA֎A?A`?A1E?A <*AQ:?2Aֽ:Ap BAQ:?JAֽRAp Yv??yҎ[WcٓHWO? ( &@}?l?@G`ֱ?Y M?)v? I٘i)I9n@Y.G JR<B=JOJJJ F&Kv> Y?^~?yT&,JA?x Fb7É9)B[[^ށ?[~^~?[0[[[[BZYY i)  M elevatorAngleAction: 0.075256< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743040097.283285F (some fields omitted in printout)A(\ύ@A'Q@A_~? AxWA%"AAvNA"AZAbAjArAzAAA&C8@AӝsAT o@A&AyAA?A!?A݁?As˙<*AJ:?2A{ֽ:A BAJ:?JA{ֽRA ٘i)I9 o@Y}G J<C=JJJJ F&K Y^~?y0JAz F79)B[[ք?[_~?[?([[[[BZYY i) ] elevatorAngleAction: 0.084262< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743040098.543294F (some fields omitted in printout)A= ףp@A6c@A_~? AAAR%"AARvNA"AZAbAjArAzAAA& zF9@A~AsAp@AO^<AOA?Aৌ?AV,?A<*AO3:?2AT׽:A5x BAO3:?JAT׽RA5x ٘i)I9p@YfG J<JJJJ F&K YD^~?yKA~ F{7j79)B[[ۍ?[3+_~?[[[[[BZYY i) n YM^~?yQLA#? F7779B)BE[[tې?[8_~?[[[[[BZYY i)  elevatorAngleAction: 0.084262< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743040099.803305F (some fields omitted in printout)A@AO=@A"_~? A+A%"AA wNA"AZAbAjArAzAAA#!􇐧9@APsAr@A׻AG{A7K?A?A@?A&F<*A:?2Aֽ:A]BA:?JAֽRA]٘i)I9r@Y[G J<JJJJ F&K Y]_~?yqLA F77{7N9B)}BE[[?[AP_~?[y[[[[BZYY i) 6 elevatorAngleAction: 0.084262< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743040101.063321F (some fields omitted in printout)A3333@A &(@A_~? AA]%"AA%CwNA"AZAbAjArAzAAA(T9@A=.Z+sA@s@AkAwƨA$?Aa{?A=?A,v<*A9?2A ׽:A˻BA9?JA ׽RA˻Y!(?n4?yŨ,ٓH?Cqm V?`S?`n?w ?)!(? I٘i)I9s@YtG J<J^JJJ F&Kx> Y_~?yҩ NA4? F779)mB[[%?[o_~?[ܩ[[[[BZYY i) * elevatorAngleAction: 0.084262< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743040102.323286F (some fields omitted in printout)AGzT@A=~oG@A`~? AAV}%"AAYgwNA"AZAbAjArAzAAA&@A:@AhF,'sAu@Az[<ARA.?A6?A֨?Ah<*A9?2A׽:ABA9?JA׽RA٘i)I9u@YG J<JJJJ F&K YW'_~?ytOA Fŧ779)[B[[S?[]_~?[[[[[BZYY i)  Y._~?y^PA?? F{79B)NBE[[P?[_~?[![[[[BZYY i) ~4 elevatorAngleAction: 0.084262< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040103.583295F (some fields omitted in printout)A)\@Aù@AH'`~? A_AH%"AAwNA"AZAbAjArAzAAA]/y:@A|;ʭsAw@A.AhA?Anb?A`?A<*A9?2Auֽ:ABA9?JAuֽRA٘i)I9w@YG Js<JJJJ F&K YU1_~?yΞPA Fŧ7b7o9B)GBE[[p?[_~?[[[[[ZZZZ¸>BZYY i¸>~) /RA F)7ŧ7ϫ9)2B[[?[s_~?[ [[[[ZZZZBZYY i) $ Y7_~?y{RAF? F77779)+B[[,#?[8_~?[~[[[[ZZZZBZYY i) r`~? AwA&"AAթwNA"AZAbAjArAzAAA@Z:@ApfmsAV|@AI<Ag˼A?A@?A7d?A<*A9?2A^ֽ:ABO;BA9?JA^ֽRABO;٘i)I9V|@YG J<JJJJ F&K Y7_~?yj/SA F77/9B)BE[[p?[_~?[&k[[[[ZZZZBZYY i) ך+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084319< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743040107.363270F (some fields omitted in printout)Aْ@A8̒@AvB`~? AFA&"AAwNA"AZAbAjArAzAAA(/:@A ">^sA[p}@AQA<A9^?A?Ay?Aٴ;*A9?2Aq׽:A͘<BA9?JAq׽RA͘JJJ F&Kx> Y2_~?yOSAT? F{7j79B)BE[[4?[_~?[M[[[[ZZZZBZYY igt) ;"LuSA Fb77$9)[[J?[A_~?[g:[[[[BZYY i) %( Y_~?y$RAR? Fj7SI79)B[[f?[ĝ_~?[D[[[[BZYY ik) g;IF?iaÿjz $ @))$ @$ @|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040109.503165 s, next control iter: 1743040109.863183 s, wait time: 0.360018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13608, header.stamp.nsec: 00 temperature: 13.562423* salinity: 33.375599, density: 1025.000000* values[0]: 0.584618F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040109.883165 s.yJ~,Mx+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057525< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743040109.883287F (some fields omitted in printout)A(@A%@A<`~? AmAw&"AAwNA"AZAbAjArAzAAAyXj:@Am[AsAG|@A;Aܔ=A?AKA ^?Ak*A9?2Aֽ:A_M=BA9?JAֽRA_M=٘i)I9G|@YG JJJJJ F&K Y_~?yv{RA F77{7O9)B[[j?[_~?[[[[[BZYY i) Q;IF?iſx/| !@))!@!@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040109.903165 s, next control iter: 1743040110.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040110.303165 s.XJ~,g+AJ"J*J2J:JBJnJvJAQ@Aq!D@A:`~? AeA&"AAwNA"AZAbAjArAzAAA7Ѧ:@AО;. YL^~?yUPA]? FZ7Z7yȺ9)0B[[?[y_~?[[[[[BZYY i) ;IbF?iCſ| }'@))}'@}'@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040111.583165 s, next control iter: 1743040111.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13610, header.stamp.nsec: 00 temperature: 13.562905* salinity: 33.375607, density: 1025.000000* values[0]: 0.583421F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040111.983165 s.J~,+AJ"J*J2J:JBJnJvJA\(@A{2@A)`~? AEA &"AAwNA"AZAbAjArAzAAA;:@A\+(sAgy@A%Ad=A?A¿A P?Al*A~9?2Aֽ:A<=BA~9?JAֽRA<=٘i)I9y@YG JeJJJJ F&K YY^~?yPA FDʺ9)5B[[?[p_~?[;[[[[BZYY i) ~:IMF?iſ[} )@)))@)@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040112.003165 s, next control iter: 1743040112.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040112.403165 s.&J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066804< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743040112.403268F (some fields omitted in printout)AQ^@A ګQ@A-$`~? A>AZ &"AAwNA"AZAbAjArAzAAAl{o:@AӢ>#sAx@A\S<Aƌ=A}?A|ĿA`M?A ٴ*Ag9?2A^ֽ:A9=BAg9?JA^ֽRA9=٘i)I9x@YG JJJJJ F&K Ye^~?y$PA F)7ŧ7̺9B):B E[[#?[e_~?[ڨ[[[[BZYY i) :Iq8F?iſ| <#+@))<#+@<#+@%ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040112.423165 s, next control iter: 1743040112.803179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13611, header.stamp.nsec: 00 temperature: 13.563202* salinity: 33.375587, density: 1025.000000* values[0]: 0.582713F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040112.823165 s. J~,)4+AJ"J*J2J:JBJnJvJAGz@AGZ*o@AA`~? A)6A` &"AAiwNA"AZAbAjArAzAAAZc]:@A>sAiYx@Ab<A=A/?A_VƿA?APb*A9?2AVֽ:A(=BA9?JAVֽRA(=٘i)I9Yx@Y'G JJJJJ F&K Yq^~?yKOA F{7{7ͺ9)?B[[R?[Z_~?[Ѩ[[[[BZYY i) mI\#F?iĿoz T,@))T,@T,@yÈ'ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040112.843165 s, next control iter: 1743040113.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040113.243165 s.J~,iO+AAףp=ʕ@ACr2@A`~? AU.AR &"AAwwNA"AZAbAjArAzAAA 2AJ:@AEaNsAw@Aj5<A=A?A`1ȿA?AF*Ah9?2AUֽ:A=BAh9?JAUֽRA=٘i)I9w@YG JJJJJ F&K Y}^~?yרQOA F777Ϻ9)DB[[ ?[%O_~?[Ȩ[[[[BZYY i) JIF?i2w K.@))K.@K.@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040113.263165 s, next control iter: 1743040113.643176 s, wait time: 0.380011 s&}^~?)&ר rAdjusting time to match Gazebo time: 1743040113.663165 s.J~,qj+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066804< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743040113.663275F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13612, header.stamp.nsec: 00 temperature: 13.384438* salinity: 33.391624, density: 1025.000000* values[0]: 0.706139F (some fields omitted in printout)A@A@A`~? A&A5 &"AAlwNA"AZAbAjArAzAAA+05:@AhsA7w@A&!;A|=A a?A` ʿA??AA*Ai9?2Aֽ:Aƽ<BAi9?JAֽRAƽ`~?@Yڿ Ι?$d??)kZ? I٘i)I97w@YwG JJƁJJJ F&KRx> Y^~?yϨNAf? F7oѺ9B)JBE[[o?[B_~?[[[[[BZYY i) $ IE?iR¿x /@))/@/@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040113.683165 s, next control iter: 1743040114.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040114.083165 s.D!J~, S+AA)\5@Axak(@Aj `~? AA߂ &"AAbwNA"AZAbAjArAzAAA:@As-HsAv@AA =A @A˿Am?A(뚼*A9?2A20׽:A<BA9?JA20׽RA<٘i)I9v@Y%G JJJJJ F&K Y9^~?yǨNA Fb7b7:Ӻ9)NB[[}@[5_~?[̶[[[[BZYY i) qJIE?i¿F\x To1@))To1@To1@`ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040114.103165 s, next control iter: 1743040114.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040114.503165 s.'J~,@4+AJ"J*J2J:J4?BJ4?nJd=5vJARk@Akz^@Ap`~? AA&"AAlVwNA"AZAbAjArAzAAAa:@A%.! sA52v@A\A =A]@AbͿA2H?Az*A%9?2A&J׽:A=<BA%9?JA&J׽RA=<٘i)I92v@YG JėJJJJ F&K Y^~?y޿0NA F)7)7պ9)RB[[@['_~?[[[[[BZYY i) "8IE?i'v 3@))3@3@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040114.523165 s, next control iter: 1743040114.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13613, header.stamp.nsec: 00 temperature: 13.384684* salinity: 33.391628, density: 1025.000000* values[0]: 0.704984F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040114.923165 s.7.J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066804< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743040114.923289F (some fields omitted in printout)A{G@A!S>@A_~? AxA`&"AAIwNA"AZAbAjArAzAAAժ9@A>FwsAݶu@ACKA=A@AbϿA`< ?Aٞ*A9?2A(׽:Au<BA9?JA(׽RAu<٘i)I9u@YG JԒJJJJ F&K Y^~?yطMA Fŧ77ֺ9B)WBE[[@[D_~?[Z[[[[BZYY i) IE?i@s 4@))4@4@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040114.943165 s, next control iter: 1743040115.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040115.343165 s.<5J~,՜+AJ"J*J2J:JBJnJvJAp= ז@A%̴ɖ@A_~? AAD&"AArAt@Aլ;AV\=A1@AѿA@#?AS*A9?2Aӎֽ:A<BA9?JAӎֽRA Y ^~?y4MA7@ F777dں9)_B[[E@[O^~?[k[[[[BZYY i) IyE?in һ7@))һ7@һ7@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040115.783165 s, next control iter: 1743040116.163182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040116.183165 s.BJ~,g +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743040116.183273F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\B@Af5@A_~? AA.j&"AA' wNA"AZAbAjArAzAAAň9@Ae`rAFt@AN<A&ņ=Aw@AomҿA`?A댑*A9?2Angֽ:Ay=BA9?JAngֽRAy=٘i)I9Ft@YG JgC=JJJJ F&K Y^~?yLA F/ܺ9B)eBE[[@[^~?[#[[[[BZYY i) bIE?i[Am M9@))M9@M9@YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743040116.203165 s, next control iter: 1743040116.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040116.603165 s.A4IJ~,ؚ&+AAQx@A$}ZEk@A_~? A|Am&"AAwNA"AZAbAjArAzAAAV v9@A۟*rA|s@AY<A=A@ALӿAcj?AYZ*A<9?2AI|ֽ:A)=BA<9?JAI|ֽRA)=٘i)I9s@YbG JuJJJJ F&K Yt^~?y_LA Fݺ9)iB[[{o @[^~?[[[[[BZYY i) %IkE?iPj ":@))":@":@yӚ߹YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743040116.623165 s, next control iter: 1743040117.003189 s, wait time: 0.380024 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13615 , header.stamp.nsec: 0 0 temperature: 13.385152 * salinity: 33.391651 , density: 1025.000000 * values[0]: 0.702912 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040117.023165 s.ZPJ~,$|A+AJ"J*J2J:J3?BJ3?nJ<5vJAHz@A @A0_~? A&Ab&"AAwNA"AZAbAjArAzAAA'qU9@A#urAuVs@A;Aˇ=A @A`+ԿA`6?A$͋*A9?2Akֽ:A m=BA9?JAkֽRA m=٘i)I9Vs@YG JJJJJ F&K Yf^~?y[LA F77ߺ9 B)nBE[[ @[^~?[|[[[[BZYY i) I!IXE?if r<@))r<@r<@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040117.043165 s, next control iter: 1743040117.423191 s, wait time: 0.380026 s rAdjusting time to match Gazebo time: 1743040117.443165 s.9VJ~,F]\+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743040117.443322F (some fields omitted in printout)Aq= @AD֗@AȻ_~? AA&"AAvNA"AZAbAjArAzAAAp$,39@AqdqArAor@AAA@=AYr @A> տA@ ?A`*A29?2A׽:A1=BA29?JA׽RA1=٘i)I9r@YG JJJJJ F&K Y[X^~?yKA F79)rBE[[ @[մ^~?[6t[[[[BZYY i)  .IEE?iMb` >@))>@>@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040117.463165 s, next control iter: 1743040117.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13616, header.stamp.nsec: 00 temperature: 13.385399* salinity: 33.391666, density: 1025.000000* values[0]: 0.701883F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040117.863165 s.+]J~,>w+AJ"J*J2J:JBJnJvJA@A @A_~? A۩A$&"AAvNA"AZAbAjArAzAAA#9@ArApr@A9AO=A` @AFտA`1?A*A9?2AGL׽:AF=BA9?JAGL׽RAF=Y&m? @yNM=LB:ٓH ]`(@?N`l?:f``:?)&m? I٘i)I9pr@YG JvB=J+;JJJ F&KTx> YG^~?yKKA @ Fb7Z9 B)wBE[[&@[^~?[l[[[[BZYY i) />I2E?i5^ ?@))?@?@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040117.903165 s, next control iter: 1743040118.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040118.283165 s.9RdJ~,+AA(\O@Ag?RB@A_~? AԩA2&"AAvNA"AZAbAjArAzAAA!g8@A/rAq@AaA)΍=A@AֿA^?ABo*A\9?2A]B׽:A]=BA\9?JA]B׽RA]=٘i)I9q@YHG JŇC=JJJJ F&K Y&7^~?y}{JA F77$9){B[[ø@[{^~?[d[[[[BZYY i) BMIt E?ig>\ $A@))$A@$A@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040118.303165 s, next control iter: 1743040118.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13617., header.stamp.nsec: 0.0 temperature: 13.385629.* salinity: 33.391647., density: 1025.000000.* values[0]: 0.700963.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040118.703165 s.غjJ~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743040118.703279F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Av!x@A_~? AͩA&"AAvNA"AZAbAjArAzAAA~O8@AK9?2Aֽ:AT=BA>9?JAֽRAT=٘i)I9q@YG JB=JJJJ F&K Y&^~?y\tJA F79 B)BE[[I@[~z^~?[][[[[BZYY i) !]IKE?iިl'X B@))B@B@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040118.723165 s, next control iter: 1743040119.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040119.123165 s.3qJ~,Lǝ+AAGẘ@A+ԭ@Aq_~? AƩAE&"AAvNA"AZAbAjArAzAAA|8@A͞HrA q@AFU-:AY=A@AbؿA?Aq*Aw9?2Abֽ:A =BAw9?JAbֽRA =I٘i)I9 q@YG J꒼C=JJJJ F&K Y^~?y=m3JA F77{79B)BE[[h@[ f^~?[xV[[[[BZYY icx) lID?iR DD@))DD@DD@;ʪYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743040119.143165 s, next control iter: 1743040119.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040119.543165 s.IxJ~,+AJ"J*J2J:JBJnJvJA= ף@A @A{_~? AAz&"AAvNA"AZAbAjArAzAAA,p8@Ax9rAȋp@A!<A,=A@A` /ٿA?A*A9?2AVֽ:Amk =BA9?JAVֽRAmk =٘i)I9p@YgG JۚJJJJ F&K YY^~?yfIA F7779B)BE[[Te@[$Q^~?[~O[[[[BZYY i) 6|IxD?i\%K 6E@))6E@6E@9ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040119.563165 s, next control iter: 1743040119.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13618, header.stamp.nsec: 00 temperature: 13.385847* salinity: 33.391693, density: 1025.000000* values[0]: 0.699934F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040119.963165 s.z~J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084702< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743040119.963328F (some fields omitted in printout)Affff&@AZ@Am_~? AAQ&"AAg{vNA"AZAbAjArAzAAA\E8@A4rA"p@Aid<AR=A.@A`ٿA?Aϡ*A9?2A Y]~?y_pIA?@ F77O9)B[[@[;^~?[H[[[[BZYY i) ID?igyI aG@))aG@aG@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040119.983165 s, next control iter: 1743040120.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040120.383165 s.؅J~,f+AJ"J*J2J:JBJnJvJA(\@A0.O@A^_~? AHA@&"AAevNA"AZAbAjArAzAAAAX_8@A8rA|o@AX.<A=A@AڿAI?An*A9?2A4ֽ:AV=BA9?JA4ֽRAV=٘i)I9|o@YG JJJJJ# F&K Y]~?yX IA F779B)BE[[5@[%^~?[A[[[[BZYY i) .ID?igE H@))H@H@yZӪYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743040120.403165 s, next control iter: 1743040120.783181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13619", header.stamp.nsec: 0"0 temperature: 13.386114"* salinity: 33.391701", density: 1025.000000"* values[0]: 0.698848"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040120.803165 s.uAJ~,sg3+AA둙@A߄@AO_~? AAV&"AA4OvNA"AZAbAjArAzAAAV d 7@AmvrA#n@A:A=Aq@AۿA?Ab*A9?2A ֽ:Az=BA9?JA ֽRAz=٘i)I9n@YnG JJJJJ$ F&K Y]~?ynRHA F7779B)BE[[ @[6^~?[;[[[[BZYY i) IǹD?i^x@ G))GzJ@pתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040120.823165 s, next control iter: 1743040121.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040121.223165 s.gJ~,HN+AJ"J*J2J:J2?BJ2?nJr;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084702< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743040121.223302F (some fields omitted in printout)AzǙ@A㊋@Ar@_~? A3A&"AA8vNA"AZAbAjArAzAAA` 77@AJCrAKin@AAٟ=A3@A`SܿA@?A*A9?2AX-׽:A@P=BA9?JAX-׽RA@P=٘i)I9in@YG JJJJJ& F&K Y]~?yK?HA F{7{79B)BE[[˖@[l]~?[C5[[[[BZYY i) #UI'D?iN9 ^F))^FWL@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040121.243165 s, next control iter: 1743040121.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040121.643165 s.vЙJ~,*i+AA ףp@A"d@A0_~? AϞAT&"AA] vNA"AZAbAjArAzAAAE7@A XrAm@Ah\A:=Ac@ATݿAk?ArM*A̪9?2AB׽:A=BA̪9?JAB׽RA=٘i)I9m@YG JJJJJ' F&K Y3]~?yOEGA F77z9B)BE[[@[N]~?[5/[[[[BZYY i) 裼I/D?i942 D))DM@NYtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13620, header.stamp.nsec: 00 temperature: 13.386352* salinity: 33.391685, density: 1025.000000* values[0]: 0.697738F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743040121.663165 s, next control iter: 1743040122.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040122.063165 s.J~,c +AJ"J*J2J:JBJnJvJA33333@A_(&@A< _~? AA{&"AAvNA"AZAbAjArAzAAARs[7@AݾrANm@A>[CA=A@AݿAI?A 6*Aߥ9?2A׽:A.=BAߥ9?JA׽RA.=Y @@y=?DٓH`p {?@ޫ?\δAkP?) @ I٘i)I9Nm@YmG JJ<JJJ( F&K1x> YW]~?yb?iGA@ F{7{7E9)B[[k@[]~?[L)[[[[BZYY i) FID?iv. C))CO@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040122.083165 s, next control iter: 1743040122.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040122.483165 s.x_J~,잞+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084702< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743040122.483341F (some fields omitted in printout)A\h@AR[@A_~? AVAVJ&"AAuNA"AZAbAjArAzAAAu(7@ArAtl@AOA[ש=A;@A޿A@?A/*Ae9?2AЬֽ:Az=BAe9?JAЬֽRAz=٘i)I9l@YG JEJJJJ* F&K Y{}]~?yt9FA F779B)BE[[=/ @[]~?[#[[[[BZYY i) I>~D?i*) zA))zAP@dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040122.503165 s, next control iter: 1743040122.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13621, header.stamp.nsec: 00 temperature: 13.386621* salinity: 33.391724, density: 1025.000000* values[0]: 0.696591F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040122.903165 s.ȭJ~,͹+AJ"J*J2J:JS2?BJS2?nJ:5vJAQ@Aޒ@Ag^~? ABA%&"AA_uNA"AZAbAjArAzAAA?6@A#>arAl@A;Aז=AU@A`A߿A ?Ay¼*Am9?2A4Hֽ:Ae=BAm9?JA4HֽRAe=٘i)I9l@YG J JJJJ+ F&K Yh]~?y3FA F7ŧ79B)BE[[ƼJJJJ, F&K YS]~?y-FA E F7{79B)BE[[8#@[]~?[[[[[BZYY i) aI^cD?i$tx@ Fj>))Fj>oS@'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040123.343165 s, next control iter: 1743040123.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13622*, header.stamp.nsec: 0*0 temperature: 13.386930** salinity: 33.391716*, density: 1025.000000** values[0]: 0.695315*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040123.743165 s.WJ~,m+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084702< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743040123.743320F (some fields omitted in printout)Aףp= @Ag}1@A^~? AoAm&"AAcuNA"AZAbAjArAzAAAC6@A0])rAMj@AU<AT=A@AyQA@?A6rμ*A9?2A 2ֽ:AI=BA9?JA 2ֽRAI=٘i)I9j@YG J̼JJJJ. F&K Y>]~?y'EA Fj7j7o9B)ȯB޹E[[$@[g]~?[[[[[BZYY i) ˿ȼIVD?ifT <))<;U@XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040123.783165 s, next control iter: 1743040124.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040124.163165 s.{}J~,q +AA@@Aй2@A^~? AzA&"AAuNA"AZAbAjArAzAAADPR6@AA rADj@A~;AI=A> @A A@F?A2ϼ*A99?2AWֽ:A~=BA99?JAWֽRA~=Y A@0G @y\=;ٓH~ հ?@_ ?( z?`?) A@ I٘i)I9j@YyG J&ϼJN<JJJ/ F&Kx> Y;(]~?yq"3EAG @ Fŧ7b7:9 B)ϯB۹E[[%=&@[TN]~?[[[[[BZYY i) 8ϼIJD?i_ ^;))^;V@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040124.183165 s, next control iter: 1743040124.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040124.583165 s.J~, S%+AJ"J*J2J:J1?BJ1?nJv:5vJA)\u@A]0h@A^~? AuAۋ&"AAiuNA"AZAbAjArAzAAA}6@A0y.9rAbji@AvlAf=A!@AA6*?A<μ*A9?2Aֽ:Ad=BA9?JAֽRAd=٘i)I9ji@YG JϼJJJJ0 F&K  9Y]~? 9y6DA F)7ŧ79)ԯB[['@[4]~?[ [[[[BZYY i) Y2׼Ij?D?iViV r9))r9CEX@_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040124.623165 s, next control iter: 1743040124.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13623, header.stamp.nsec: 00 temperature: 13.387258* salinity: 33.391731, density: 1025.000000* values[0]: 0.693947F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040125.003165 s.} J~,a4@+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084702< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199482 time: 1743040125.003283F (some fields omitted in printout)AR@AVy@A^~? AoA&"AALuNA"AZAbAjArAzAAA$+5@A!5ݥrA;h@A?A!=A3"@ARA@ʞ?Aͼ*A_9?2A%׽:A=BA_9?JA%׽RA=٘i)I9h@Y G J$μJJJJ2 F&K Y\~?yDDA F9!B)ۯBعE[[=>)@[]~?[[[[[BZYY i) ;k޼Ix4D?iKP V8))V8 Y@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040125.043165 s, next control iter: 1743040125.403181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743040125.423165 s.uJ~,[+AJ"J*J2J:JBJnJvJA{G@A_(`;ԛ@A^~? A.jAb&"AA/uNA"AZAbAjArAzAAA[3Rr5@A prAh@A=_A=A@C$@AA?Aм*A%9?2A׽:A,=BA%9?JA׽RA,=٘i)I9h@Y< G JμJJJJ3 F&K Y9\~?yCA Fb779#B)BչE[[.*@[]~?[V[[[[ZZ¸BZYY i¸d}=) mҼI9*D?i>f 6))6K[@&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040125.443165 s, next control iter: 1743040125.823181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13624, header.stamp.nsec: 00 temperature: 13.387586* salinity: 33.391727, density: 1025.000000* values[0]: 0.692587F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040125.843165 s.J~,u+AAp= @Ar @A|^~? AdA&"AAuNA"AZAbAjArAzAAA Id˫i5@A" _rA _g@AV A =Aň%@AYA@-?AnԼ*A9?2A"ֽ:AI=BA9?JA"ֽRAI=٘i)I9_g@Y G JҼJJJJ4 F&K Y\~?y VCA F77{7e9&B)BѹE[[S5,@[\~?[G[[[[ZZBZYY i) hoƼI D?i/ R5))R5\@tYFFF]Waiting for Gazebo time sync: latest Gz time: 1743040125.863165 s, next control iter: 1743040126.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040126.263165 s.J~,,ؐ+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083247< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743040126.263329F (some fields omitted in printout)AL@A}?@Ag^~? A_As0&"AAtNA"AZAbAjArAzAAAw"},5@AN=rAf@A!.:Ai=A'&@A1=Ap?AH*Aӕ9?2Aqcֽ:Afk<BAӕ9?JAqcֽRAfk YI\~?y BA&@ F7709)B[[W-@['\~?[a[[[[ZZBZYY i) |ID?i'Lkֻ 3))3M^@CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040126.283165 s, next control iter: 1743040126.663177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13625., header.stamp.nsec: 0.0 temperature: 13.387930.* salinity: 33.391724., density: 1025.000000.* values[0]: 0.691146.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040126.683165 s.lJ~,o+AA(\@A u@AS^~? AZA&"AA:tNA"AZAbAjArAzAAAb\%4@A5/rA޹e@AT$<AY=AL (@A`Ab?A*Am9?2A4ֽ:Al<BAm9?JA4ֽRAl<٘i)I9e@Y G J9JJJJ7 F&K Y\~?ymBA FZ7SI79'B)BιE[[c-/@[g\~?[[[[[ZZBZYY i) IPD?iL[Wɻ *S2))*S2_@yxܨ=CҪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743040126.683165 s, next control iter: 1743040127.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743040127.103165 s.J~,Ɵ+AJ"J*J2J:JBJnJvJAQ@A4F@A>^~? AUA&"AA$tNA"AZAbAjArAzAAAW]m4@A15rA{d@A1Z<ADtr=AT)@AA?A%9*A9?2A<ֽ:A/o<BA9?JA<ֽRA/o<٘i)I9d@YL G JJJJJ8 F&K YÄ\~?y AA F77 9)B)B˹E[[;0@[\~?[9[[[[ZZBZYY i) ID?i$ y0))y0 elevatorAngleAction: 0.083247< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743040127.523292F (some fields omitted in printout)AHz@A\ @A)^~? A,QAR&"AAtNA"AZAbAjArAzAAAQop4@A\PrA^d@A<ATO-=AA*@AA,?Aм*Ae9?2AVֽ:Au;BAe9?JAVֽRAu;٘i)I9d@Y G JB=JJJJ: F&K Y~l\~?yAA F77 9~l\~?)*B) BȹE[[2@[{\~?[[[[[ZZBZYY i)  IwD?i^ V/))V/b@sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040127.543165 s, next control iter: 1743040127.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13626, header.stamp.nsec: 00 temperature: 13.388331* salinity: 33.391750, density: 1025.000000* values[0]: 0.689455F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040127.943165 s.YdJ~,F]+AJ"J*J2J:J0?BJ0?nJ95vJAq= #@A8@A^~? ALA&"AAvtNA"AZAbAjArAzAAA)8!04@A;rA~c@Ao<ǶAf<A^+@A@`ASf?AZ.*A 9?2A[ֽ:AuBA 9?JA[ֽRAu٘i)I9~c@Yt G J#C=JJJJ; F&K Y+AAY@AHڍL@A]~? AHAn&"AAVtNA"AZAbAjArAzAAA21.V3@AVčrAc@AA7<AC-@AA i?As*A9?2AAֽ:A#BA9?JAAֽRA#Yz<@B-@y*6< ٓH@ڿgE?`u@`Y?)z<@ I٘i)I9c@Y( G J!J[;JJJ< F&Kv> Y:\~?y[AAB-@ F77j7%9,B)BŹE[[5@[AE\~?[ [[[[ZZBZYY ia=) ހIC?i ӾW  _,)) _,e@OYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743040128.383165 s, next control iter: 1743040128.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13627&, header.stamp.nsec: 0&0 temperature: 13.388624&* salinity: 33.391747&, density: 1025.000000&* values[0]: 0.688162&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040128.783165 s.W J~,2+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: 0.064420< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743040128.783319F (some fields omitted in printout)A(\@A2P@A]~? ACA\&"AA 5tNA"AZAbAjArAzAAAצ.3@A,J]IrAb@AbmAA.@A@A7?Ac*Ad9?2Ax*ֽ:A<BAd9?JAx*ֽRA<٘i)I9b@Y G JPJJJJ> F&K Y \~?y@A F7779.B)BE[[|6@[)\~?[b[[[[ZZBZYY i =) nIC?iDp *))*2B=JJJJ? F&K Y.\~?y@A Fj7SI790B)BE[[7@[7\~?[[[[[BZYY i) 6hZI5C?iN h)))h)¶h@A)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040129.223165 s, next control iter: 1743040129.603182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040129.623165 s.]J~,vg+AJ"J*J2J:JBJnJvJAG@A)$@Ao]~? Az;A &"AAsNA"AZAbAjArAzAAAd$3@A_'rAWcb@A|bA A1+1@AeA>-?AG9&*A9?2ALuֽ:A?μBA9?JALuֽRA?μ٘i)I9cb@Y G J?8C=JJJJ@ F&K Y[~?y6@A F7791B)BE[[_9@[[~?[[[[[BZYY i) FIC?i( ' '))'/j@yx=5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040129.643165 s, next control iter: 1743040130.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13628 , header.stamp.nsec: 0 0 temperature: 13.388814 * salinity: 33.391758 , density: 1025.000000 * values[0]: 0.687504 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040130.043165 s. J~,Â+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074768< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743040130.043292F (some fields omitted in printout)A= ף0@A:̗#@A]~? A7AO&"AAsNA"AZAbAjArAzAAA92@AyrA=jb@A@;A3A"2@AଡAU?AH;*A9?2Avֽ:A BA9?JAvֽRA 漙٘i)I9jb@Y G Jf:JJJJB F&K Y[~?y@A Fb77P9)[[:@[Y[~?[ߧ[[[[BZYY i) 3IC?iA x&))x&k@~q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040130.063165 s, next control iter: 1743040130.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040130.463165 s.J "J *J 2J :J /?BJ /?W'J~nJ85vJ,줝+AAfffff@A[[Y@A]~? A3AH&"AAsNA"AZAbAjArAzAAAL32@A-arAb@A#V<AYA3@A@#A(|?A/;*Aj9?2Aֽ:A?BAj9?JAֽRA?Y%@3@y;YW<ٓH&4 Կ??C@.t.? R֊??)%@ I٘i)I9b@Y G J;JLJJJC F&K2x> Y[~?yAA3@ F77793B)E[[<<@[[~?[ݧ[[[[BZYY i)h=) "IC?iYú %))%5m@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040130.483165 s, next control iter: 1743040130.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13629, header.stamp.nsec: 00 temperature: 13.388852* salinity: 33.391766, density: 1025.000000* values[0]: 0.687403F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040130.883165 s.y-J~,D+AA(@AU@Aw]~? A)0A&"AAsNA"AZAbAjArAzAAAYS2@Ap~*rAb@ArL<AyA5@A Aɡ?A&<*A9?2Aֽ:AEBA9?JAֽRAE٘i)I9b@Y G Jb<JJJJD F&K Y^[~?yާhAA F{794B)E[[=@[ߟ[~?[!ܧ[[[[BZYY i) nIC?i}νD' ,#)),#n@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040130.903165 s, next control iter: 1743040131.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040131.303165 s.W4J~,{gӠ+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056763< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743040131.303290F (some fields omitted in printout)J"J*J2J:JBJnJvJAў@AHĞ@A `]~? A,A'( &"AAfsNA"AZAbAjArAzAAA 2@AP }rAxc@Au;AASd6@A`EAP?Akh<*A9?2Axֽ:AF BA9?JAxֽRAF ٘i)I9c@Y4 G JzE<JJJJF F&K Y[~?yۧAA Fŧ7ŧ795B)BE[[?@[>[~?[ڧ[[[[BZYY i@=) 4IC?ik: "))"p@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040131.323165 s, next control iter: 1743040131.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13630., header.stamp.nsec: 0.0 temperature: 13.388770.* salinity: 33.391773., density: 1025.000000.* values[0]: 0.687782.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040131.723165 s.;J~,H+AAz@A ;@A\H]~? AY)Aj &"AABsNA"AZAbAjArAzAAA+~1@AÃ({rAՁc@A.AA7@A@wA`?A.r<*A9?2Al ֽ:AvBA9?JAl ֽRAv٘i)I9c@Yv G J<JJJJG F&K Yh[~?yاAA Fb7{97B)BE[[I~@@[h[~?[m٧[[[[BZYY i) IAC?i1<*r39 N ))N gyq@yh=N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040131.763165 s, next control iter: 1743040132.123178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040132.143165 s.J "J *J 2J :J )0?BJ )0?nJ 85vJ U/BJ~,* +AA ףp=@AEf0@Ax0]~? A*&A &"AAsNA"AZAbAjArAzAAAQ01p|1@A誟yrAd@A#MA__A8@AFA` ?A"<*Au9?2Aս:ABAu9?JAսRA٘i)I9d@Y G J֖<JJJJI F&K Y2N[~?y֧DBA FZ7SI7E 98B)BE[[zA@[aM[~?[_ا[[[[BZYY i) >ûIsC?i=*c: `5))`5Ur@y =*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040132.163165 s, next control iter: 1743040132.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040132.563165 s.HJ~,g $+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066042< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743040132.563282F (some fields omitted in printout)A3333s@A3O)f@A`]~? A!#Aq &"AArNA"AZAbAjArAzAAAd31@A6wrAd@A]A-A5:@A)A,?A<*AC9?2A ֽ:A`BAC9?JA ֽRA`Yv@,@F:@yD^ٓH@WoͿ?9?#@9^O?f?)v@,@ I٘i)I9d@Y G J<JWZJJJJ F&Kw> Y2[~?yԧBAF:@ F77"9)B[[KC@[1[~?[ק[[[[BZYY i) I>C?iz>Bڪ: ))5Zt@q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040132.583165 s, next control iter: 1743040132.963182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13631, header.stamp.nsec: 00 temperature: 13.388620* salinity: 33.391747, density: 1025.000000* values[0]: 0.688569F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040132.983165 s.OJ~,>+AJ"J*J2J:JBJnJvJA\@AwJ뛟@A]~? A@ AU!!&"AArNA"AZAbAjArAzAAA'.40@APPQturAe@A>A'A ;@A@A[G?At<*AK9?2A cֽ:ABAK9?JA cֽRA٘i)I9e@Yp G Jy<JJJJK F&K Y:[~?yҧCA Fŧ7b7#99B)BE[[̱D@[0[~?[֧[[[[BZYY i) GIC?ia9>J: V))V$u@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040133.003165 s, next control iter: 1743040133.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040133.403165 s.&VJ~,Y+AAQޟ@AE`џ@A\~? AA5X!&"AArNA"AZAbAjArAzAAA0@A:IUsrAze@A.(;ApqA=<@AM+A`?A<*A~9?2AMֽ:AX BA~9?JAMֽRAX ٘i)I9e@Y G J<JJJJM F&K YZ~?yЧ{CA F{7j7%9;B) BE[[7F@[Z~?[T֧[[[[BZYY i) bQIC?it>r; ))6w@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040133.423165 s, next control iter: 1743040133.803176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13632, header.stamp.nsec: 00 temperature: 13.388420* salinity: 33.391769, density: 1025.000000* values[0]: 0.689573F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040133.823165 s.J "J *J 2J :J 0?BJ 0?nJ 95vJ \J~,Ot+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066042< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743040133.823301F (some fields omitted in printout)AGz@A"n@A\~? AA!&"AArNA"AZAbAjArAzAAAJ~T0@A}\8rrAj@f@A77<A훽A=>@ARA?A<*A9?2AJ ׽:AW4BA9?JAJ ׽RAW4٘i)I9@f@Y" G J<JJJJN F&K YDZ~?y ΧCA F77p'9=B) BE[[uG@[Z~?[֧[[[[BZYY i) jI5C?i>-G; |))|2x@s*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743040133.843165 s, next control iter: 1743040134.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040134.243165 s.cJ~,y+AAףp=J@A9@0=@A&\~? AAɼ!&"AA?frNA"AZAbAjArAzAAA^K 0@AprAPf@Ad<AݚAL?@AwA`?Ac<*Aï9?2A ׽:AwBAï9?JA ׽RAw٘i)I9f@Yz G J<JJJJO F&K YZ~?y̧KDA F77{7:)9>B)BE[[MH@[Z~?[է[[[[BZYY i) IbC?i|>av; )) z@*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743040134.263165 s, next control iter: 1743040134.643181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040134.663165 s.jJ~,q+AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13633, header.stamp.nsec: 00 temperature: 13.388222* salinity: 33.391754, density: 1025.000000* values[0]: 0.690635F (some fields omitted in printout)A@Aar@A-\~? AJAy!&"AA@rNA"AZAbAjArAzAAAѲk{/@A3E-_orAMbg@A<AZA@@A(A ??A1><*A9?2A&ֽ:ABA9?JA&ֽRAY)2@K@@yXn<ٓH`=hM?s?D3`&? ???))2@ II٘i)I9bg@Y G J<B=J:JJJQ F&Kx> YǨZ~?yʧDA@@ Fj7+9?B)BE[[4J@[iZ~?[է[[[[BZYY i) P8I0C?i>; ))w{@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040134.683165 s, next control iter: 1743040135.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040135.083165 s.DqJ~,Sš+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066042< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743040135.083308F (some fields omitted in printout)A)\µ@ALP÷@A\~? A1A"&"AArNA"AZAbAjArAzAAAep.@Aε6nrAg@AcθAhAB@A`˹ARl?A<*A9?2Axֽ:AVBA9?JAxֽRAV٘i)I9g@Y, G J#<C=JJJJR F&K YȌZ~?yɧEA Fb77,9@B)BE[[K@[ZZ~?[4֧[[[[BZYY i) @9IC?i>_; >))>$|@d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040135.103165 s, next control iter: 1743040135.483182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040135.503165 s.wJ~,@4+AJ"J*J2J:JBJnJvJAR@A_|ޠ@Aj\~? A@A<"&"AAnqNA"AZAbAjArAzAAA#FYJ.@A lrAh@AA AYC@A`Am?A}<*AO9?2A\8ֽ:A8BAO9?JA\8ֽRA8٘i)I9h@Y G JM<B=JJJJS F&K YpZ~?yȧEA Fŧ7b7.9)B[[qL@[xsZ~?[֧[[[[BZYY i) :I D?i ? ; ))  I~@ -*YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743040135.543165 s, next control iter: 1743040135.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13634, header.stamp.nsec: 00 temperature: 13.388011* salinity: 33.391750, density: 1025.000000* values[0]: 0.691678F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040135.923165 s.?~J~,+AA{G!@A5 ;@ArQ\~? AxA*a"&"AAqNA"AZAbAjArAzAAAJ\sZ-@AýkrAi@AcAgUAMD@A6AG?AK<*Aݾ9?2A2ֽ:ATBAݾ9?JA2ֽRAT٘i)I9i@Y G J1<C=JQ>JJJU F&K> YTZ~?y}ǧEA F77{7e09?B)BE[[IN@[XZ~?[6ק[[[[BZYY i) 7;IRD?i?P; o))o@|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040135.943165 s, next control iter: 1743040136.323182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040136.343165 s. elevatorAngleAction: 0.066042< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743040136.343288F (some fields omitted in printout)Ap= W@A~WI@A7\~? AA"&"AAqNA"AZAbAjArAzAAAq-@APUjrAi@Ap3AzAE@A 4 A`4?AN<*A%9?2Aiֽ:AthBA%9?JAiֽRAth٘i)I9i@Y6G J<JQ>JJJV F&K> Y8Z~?yZƧMFA F777029)BE[[O@[>Z~?[ק[[[[BZYY i) `T;ID?i,?;  )) O@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040136.383165 s, next control iter: 1743040136.743176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13635&, header.stamp.nsec: 0&0 temperature: 13.387780&* salinity: 33.391747&, density: 1025.000000&* values[0]: 0.692719&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040136.763165 s.:J~,,0+AǍ@A@Aa\~? Ac AĠ"&"AA܀qNA"AZAbAjArAzAAA z,@A/cJ8irA4j@A£AÌA\KG@A!A?A<*A 9?2A,ֽ:ABA 9?JA,ֽRAYG9@MG@yÌٓH`F .? ? @}p唱?`w4b ?)G9@ I٘i)I94j@YG J<Jo<JJJW F&K&x> YZ~?yƧFAMG@ F7)739@B)BE[[oP@[ $Z~?[ا[[[[BZYY i=) );I"D?i8?I; ))<@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040136.783165 s, next control iter: 1743040137.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040137.183165 s.˒J~,sK+AJ"J*J2J:Jx1?BJx1?nJ:5vJA(\¡@Ak@A\~? A Aλ"&"AAZqNA"AZAbAjArAzAAAj'+@A(:&irAjj@A;AvAH@A 6A#$?A9|<*A9?2A ׽:ABA9?JA ׽RA٘i)I9j@YG J<B=JJJJY F&K YNZ~?yŧ GA F{7{759AB)BE[[RR@[ Z~?[ڧ[[[[BZYY i)  ;I2-D?ikF?; B))B@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040137.223165 s, next control iter: 1743040137.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040137.603165 s.84J~,f+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075001< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743040137.603294F (some fields omitted in printout)AQ@A%VF@A[~? A A"&"AA 3qNA"AZAbAjArAzAAASB+@AnGuhrAB1k@A@^<A`/A'HAWGAtR?AaD<*A9?2AM&׽:AyBA9?JAM&׽RAy٘i)I91k@Y$G JI<C=JJJJZ F&K YY~?yŧiGA F7779)BE[[XS@[Y~?[Jۧ[[[[BZYY i) ;I8D?iU?X< ; )); @޺*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040137.643165 s, next control iter: 1743040138.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13636 , header.stamp.nsec: 0 0 temperature: 13.387625 * salinity: 33.391735 , density: 1025.000000 * values[0]: 0.693700 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040138.023165 s.ZJ~,{+AJ"J*J2J:J1?BJ1?nJ6:5vJAHz.@A| !@A[~? A AF"&"AA qNA"AZAbAjArAzAAA#U*@A%grAak@A%J<A,AFA`UA|?Ac<*A9?2A׽:ABA9?JA׽RA٘i)I9k@YlG J<JJJJ[ F&K YY~?ybŧGA F7[99BB)BE[[HT@[Y~?[ܧ[[[[BZYY i) ";I"ED?iTg? <  )) OP@y2=Ⱥ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040138.063165 s, next control iter: 1743040138.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040138.443165 s.æJ~,^+AAq= c@AV@A9[~? A/ A"&"AApNA"AZAbAjArAzAAAɛ] *@Aݢ`grAHl@A_;AFAeEAaA?A <*AX9?2Aֽ:ABAX9?JAֽRA٘i)I9l@YG JW<JJJJ] F&K YY~?y%ŧ&HA Fŧ7b7&;9)BE[[IKV@[Y~?[Kާ[[[[BZYY i) P+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075001< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199122 time: 1743040138.863307F (some fields omitted in printout)A@A*s󍌢@AJ[~? AA#&"AApNA"AZAbAjArAzAAA&El)@A1@frAl@AٶA.AnUDAkA?AD<*A9?2Aaֽ:A`BA9?JAaֽRA`Y_?@5ODy.EٓH7? /q?CASb?*v?)_?@ I٘i)I9l@YG J<Jj:JJJ^ F&K x> YnY~?yŧHAOD F7777<9CB)ޯBE[[W@[Y~?[[[[[BZYY i) O9BB)گB[[X@[Y~?[[[[[BZYY i) C! 1(@AffrAĐm@A ZA썽AAAvAp?Ao<*A9?2AOֽ:ABA9?JAOֽRA٘i)I9m@YG J<B=JJJJa F&K YWY~?yǧ>IA Fŧ7b7@9CB)֯B}E[[?Z@[pY~?[[[[[BZYY i) m0 elevatorAngleAction: 0.075001< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743040140.123262F (some fields omitted in printout)AG:@A-@ARO[~? AA#&"AAgGpNA"AZAbAjArAzAAA]7MU'@AW{bgfrAn@AyASAm@A xA/x?Az<*AQ9?2ACֽ:ABAQ9?JACֽRA٘i)I9n@YG J;<C=JJJJb F&K Y:Y~?yǧIA F7777PB9)ӯBzE[[%[@[WY~?[:[[[[BZYY i) 5@<ٓHlȆ??]ƿ`b?P?@ YY~?yɧ\JA= F777E9DB)˯BtE[["^@[?'Y~?[[[[[BZYY i) ?^ elevatorAngleAction: 0.075001< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743040141.383309F (some fields omitted in printout)A(ܣ@AZ+ϣ@AP[~? AA#&"AA)oNA"AZAbAjArAzAAAQ%@Af}frAo@A)ib<AeA(m<A@$pA eA<*A9?2A!׽:ABA9?JA!׽RA٘i)I9o@YG J<JJJJf F&K Y$X~?y˧JA F7G9)ȯBqE[[n_@[)Y~?[[[[[BZYY i$֫=) :n elevatorAngleAction: 0.083905< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743040142.643297F (some fields omitted in printout)A ףp}@A܄{ep@AZ~? A" A"&"AA<[oNA"AZAbAjArAzAAAˋp#@Ad_qugrAq@A٘%ATA8AqPARA<*A9?2A2ֽ:ABA9?JA2ֽRA٘i)I9q@YG Jǣ<JJJJj F&K YX~?yЧKA F777M9)BlE[[@c@[ X~?[q[[[[BZYY i)  YxX~?yҧOLAH7 FS7S7N9)BiE[[d@[X~?[[[[[BZYY i) ӄ elevatorAngleAction: 0.083905< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743040143.903343F (some fields omitted in printout)AQ@A@A_fZ~? A A"&"AAnNA"AZAbAjArAzAAA'J"@ArjrAfr@A_*׺A{A4A@fAUAb<*Aʛ9?2Aֽ:AEBAʛ9?JAֽRAE٘i)I9r@YG J3<JJJJn F&K YDBX~?y]ק#MA F77{7qR9)BcE[[g@[X~?[i[[[[BZYY i)  elevatorAngleAction: 0.083905< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743040145.163283F (some fields omitted in printout)A@Aw.@AZ~? AA^"&"AArnNA"AZAbAjArAzAAA@? @AimrAUt@AnC<AUhA0AAſA <*A9?2Aֽ:ABA9?JAֽRAYTS@0y8e48D<ٓH @h??@׿@Xu? ]F?'q??)TS@ I٘i)I9t@YG Jw<J|tJJJr F&Kx> YW~?ysߧiNA0 F{7W9)B[[ej@[CX~?[o [[[[BZYY i) ̺ЬAr/AjAǿALb<*A9?2Aֽ:AqbBA9?JAֽRAqb٘i)I9(u@Y6G J<JJJJt F&K YW~?yNA Fŧ7b7Y9)BZE[[l@[.X~?[][[[[BZYY i) q elevatorAngleAction: 0.083905< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743040146.423293F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@A=T@AY~? AA!&"AAmNA"AZAbAjArAzAAA;p@AsprAzv@AQ_UAM2A,AlA@Ro˿AVh<*A]9?2Aս:AcBA]9?JAսRAc٘i)I9zv@YG J<JJJJv F&K Y'W~?y;OA F71]9)BTE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #86q/V^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) <) *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040146.443165 s, next control iter: 1743040146.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13645, header.stamp.nsec: 00 temperature: 13.385835* salinity: 33.391682, density: 1025.000000* values[0]: 0.702804F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040146.843165 s.,J~,+AAp= @A/@A Y~? AVA!&"AAmNA"AZAbAjArAzAAAJ(*@AVvrrAF+w@AUAAC+AGA+?ͿAX><*A9?2AUֽ:AjBA9?JAUֽRAj٘i)I9+w@YoG J <JJJJx F&K YW~?y}2PA F)7^9CB)BQE[[o@[W~?[[[[[BZYY i#=) w?)}Y@ I٘i)I9w@YG J<B=J JJJy F&Kj> YoW~?yPA* F777`9)BOE[[pp@[W~?[ [[[[ZZZZ¸>BZYY i¸>) <W+AA٧@A̧@A$Y~? A-A,j &"AAlNA"AZAbAjArAzAAA@A`miA}rA{@AԴAP.A%AmnA@_ӿA#8<*A~:?2A*ͽ:ACoBA~:?JA*ͽRACoY]^@8%y9.ٓHP@" ?u?-? ݥ?v`@?)]^@ I٘i)I9{@Y1G JO<J=JJJ F&K+Q> YV~?yTRA% F77i91B)TB[[ w@[W~?[V7[[[[ZZZZBZYY iՅ) *K5vJAGz@A8m@AE[[z@[KW~?[_F[[[[ZZZZBZYY i\) Faӽ:A<BAu[:?JA>ӽRA<I٘i)I9p}@Y@G J<JJJJ F&K YܓV~?ySA% Fŧ7b7p9)FB[[Z{@[F;W~?[K[[[[ZZZZBZYY i) BPL>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743040151.463293F (some fields omitted in printout)Affff@A\U]٨@AX~? Ap?AL &"AAKlNA"AZAbAjArAzAAA +@ArAօ}@Aa#<AX =AAdA׿A@9*AI:?2AԽ:A<BAI:?JAԽRAJJJ F&K{> Y}V~?y~SA' F77r9)DB;E[[b}@[*W~?[P[[[[BZYY ipn) :A&A`OؿA9*A9:?2AAս:A'}<BA9:?JAAսRA'}<٘i)I9{}@YGG JFκJJJJ F&K YMgV~?y#PSA( F)7ŧ7|t90B)8E[[5~@[W~?[)V[[[[BZYY i;) )6 *A0:?2AѰս:A\=BA0:?JAѰսRA\=٘i)I9P}@Y-G JɻJJJJ F&K Y QV~?yq("SA) F77Fv9)FB[[c@[L W~?[[[[[[BZYY i) -?kNA"AZAbAjArAzAAAj*c@AB rA|@A8A=A6A\AaڿA@e*A":?2Aֽ:A- =BA":?JAֽRA- =٘i)I9|@YG JOC=JJJJ F&K Y}$V~?yS3RA, Fj7j7y9)KB3E[[7݀@[mV~?[f[[[[BZYY i) ;I,H?iE@Q< B))B2@ϼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040153.163165 s, next control iter: 1743040153.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040153.563165 s.J~,R d+AA3333@APs'@ABX~? A`UAVe&"AAkNA"AZAbAjArAzAAA$HJh^@AGzrAxM|@ASVAڒ=AXA`A ۿA센*A:?2A7׽:A =BA:?JA7׽RA =Y)l@yfג=]WٓH=?ݷ)@xO`V ي ??))l@ I٘i)I9M|@YG JovJ=JJJ F&K {> Y*V~?yp9bRA- F{7{7{9)NB[[s@[V~?[1l[[[[BZYY iBo) ;I&=H?iG@3< 蹿))蹿@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040153.583165 s, next control iter: 1743040153.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13652, header.stamp.nsec: 00 temperature: 13.384743* salinity: 33.391571, density: 1025.000000* values[0]: 0.708400F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040153.983165 s.J~,~+AJ"J*J2J:JY5?BJY5?nJ(>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058585< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743040153.983314F (some fields omitted in printout)A\(@A@A-X~? A,ZA &"AAkNA"AZAbAjArAzAAAra@APјrA{@AE@AT=AyA@A@JܿACx*A:?2A0׽:A=BA:?JA0׽RA=٘i)I9{@YGG J$JJJJ F&K YU~?y?QA/ F77q}9)QB0E[[^ @[V~?[q[[[[BZYY i) j;IhH?iJ@= ))Y+@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040154.003165 s, next control iter: 1743040154.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040154.403165 s.&J~,͙+AAQ^@AKxBQ@APX~? A_A9&"AAekNA"AZAbAjArAzAAA̔l@Ap{ӛrAP{@A6Aw=AMA`SAw ݿAc?*Ae:?2Arֽ:A6=BAe:?JArֽRA6=٘i)I9P{@YG JzB=JJJJ F&K YU~?yEQA0 Fb7<9/B)UB,E[[D@[V~?[w[[[[BZYY i) q;I3H?iqN@j= o>))o>?@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040154.443165 s, next control iter: 1743040154.803177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13653", header.stamp.nsec: 0"0 temperature: 13.384966"* salinity: 33.391567", density: 1025.000000"* values[0]: 0.707648"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040154.823165 s.J~,2+AJ"J*J2J:JBJnJvJAGz@ARr@AX~? A(dAH&"AAEkNA"AZAbAjArAzAAAuy?ArAz@Aw;A$=A A^5AݿAƶ*A :?2Aֽ:A=BA :?JAֽRA=٘i)I9z@YG J%C=JJJJ F&K Y1U~?yK:QA1 F)7ŧ79)YB[[,2@[ƵV~?[l}[[[[BZYY i) ea;IkH?iQR@V= ))'T@yhAp]ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040154.843165 s, next control iter: 1743040155.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040155.243165 s.J~,`Ϧ+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058585< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743040155.243293F (some fields omitted in printout)Aףp=ʪ@A2@AW~? AWiA&"AAI'kNA"AZAbAjArAzAAA6|T1?ArAz@A6L<A~=AAxA2޿A4A*Af$:?2Aֽ:A\=BAf$:?JAֽRA\=٘i)I9z@Y<G JJJJJ F&K YU~?yQPA3 F{7j7т90B)_B*E[[ Ń@[V~?[=[[[[BZYY i) $;IH?iV@ YU~?yXnPAf4 Fŧ7ŧ79/B)cB'E[[mY@[BV~?[0[[[[BZYY i) b:II?i Y@7 = Q))Qh{@AتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040155.683165 s, next control iter: 1743040156.063177 s, wait time: 0.380012 sU~?)X rAdjusting time to match Gazebo time: 1743040156.083165 s.DJ~,R+AA)\5@A0(@AW~? AtA&"AAjNA"AZAbAjArAzAAAG?A$ڡrAx@AA;A?=ARADA߿A}o*A`,:?2A ׽:A$=BA`,:?JA ׽RA$=٘i)I9x@YyG J5JJJJ F&K YuU~?yY_PA5 F7777f9)hB[[@[V~?[.[[[[BZYY i) *3:Ii[@ = ))@1ӪYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743040156.103165 s, next control iter: 1743040156.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040156.503165 s.J~,H4 +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067420< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743040156.503280F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@Aog_y^@AW~? AyA&"AAjNA"AZAbAjArAzAAA*/ҁk?A3rA9Gx@AIhA=AAAaTA*A/:?2Ac׽:A <BA/:?JAc׽RA <٘i)I9Gx@YG JJJJNFJ F&K Y?U~?yfOA7 F719)lB$E[[@[+V~?[5[[[[BZYY i)  8sIi"_@= '))'@=ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040156.523165 s, next control iter: 1743040156.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13655, header.stamp.nsec: 00 temperature: 13.385489* salinity: 33.391533, density: 1025.000000* values[0]: 0.705473F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040156.923165 s.:J~,;+AA{G@Aۋh;@AaW~? AOA,=&"AAjNA"AZAbAjArAzAAALUs_?A3#|rA.w@AS<A.ѐ=AZm A A@AbE*A+/:?2A׽:AEW<BA+/:?JA׽RAEW<٘i)I9w@YG J{JJJJ F&K Y vU~?yl2OA8 Fb779)qB[[0@[xV~?[D[[[[BZYY i) `Iib@&= n))n+4@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040156.943165 s, next control iter: 1743040157.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040157.343165 s. YSU~?yzkNA ; F{7j79)zB[[6@[bV~?[[[[[BZYY i) ]EIih@= 3ߢ))3ߢX@տYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040157.783165 s, next control iter: 1743040158.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040158.183165 s.J~,g+AJ"J*J2J:J94?BJ94?nJ<5vJA(\B@Ap?5@AnW~? AA&"AA`jNA"AZAbAjArAzAAAġ?ALrA'+v@Aϒ:A9=Ae A߿A`A**A*:?2AM׽:A<BA*:?JAM׽RA<٘i)I9+v@YG JљJJJJ F&K YCU~?yNA< F77{7\9)}BE[[ȇ@[XV~?[˭[[[[BZYY i) zIik@=  )) @YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743040158.203165 s, next control iter: 1743040158.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040158.603165 s.64J~,+AAQx@AMGk@A]W~? A&Afp&"AAEjNA"AZAbAjArAzAAAR~xcſAP{ rAu@A@#<A=ALA`_޿AA*A(:?2Aֽ:AX<BA(:?JAֽRAX<٘i)I9u@YG JB=JJJJ F&K Y 4U~?yYMA= Fb7b7&9)B[[Y@[NV~?[[[[[BZYY i) rIin@= +Q))+Q{@źYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040158.623165 s, next control iter: 1743040159.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13657 , header.stamp.nsec: 0 0 temperature: 13.385969 * salinity: 33.391518 , density: 1025.000000 * values[0]: 0.703546 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040159.023165 s.ZJ~,-|+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067420< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743040159.023308F (some fields omitted in printout)AHz@A @A;MW~? AaA&"AAe,jNA"AZAbAjArAzAAAM׿A|rA8+u@A.^<A=AWAkݿADAq%*A&:?2Aֽ:AP<BA&:?JAֽRAP<٘i)I9+u@Y7G JC=JJJJ F&K Y$U~?ySMA? F7779)BE[[;@[EV~?[Z[[[[BZYY i) bIiq@.= ))6 @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040159.043165 s, next control iter: 1743040159.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040159.443165 s.4J~,1]ܧ+AAq= @A" ֬@A=W~? AAH}&"AAvjNA"AZAbAjArAzAAA&-A8GrA߮t@AN$<A=AAܿAA'*A$:?2A*ֽ:A<BA$:?JA*ֽRA<٘i)I9t@YG J JJJJ F&K Y1U~?y嗨LA@ Fb7b79)B[[z@[;V~?[[[[[BZYY iН) T޻Iiu@(= kϙ))kϙ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040159.463165 s, next control iter: 1743040159.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13658, header.stamp.nsec: 00 temperature: 13.386172* salinity: 33.391518, density: 1025.000000* values[0]: 0.702710F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040159.863165 s.J "J *J 2J :J 3?BJ 3?nJ <5vJ +J~,>+AA@Aّ @A3-W~? A&A&"AA*iNA"AZAbAjArAzAAA=7IuAgrAO7t@A:Aڃ=AWXAܿAAPĊ*A":?2AF׽:A<BA":?JAF׽RA YU~?yLAWA Fŧ79)BE[[7 @[ 3V~?[Ǩ[[[[BZYY i) ±Ii{w@c= ))2-@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040159.903165 s, next control iter: 1743040160.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743040160.283165 s.6RJ~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077059< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743040160.283292F (some fields omitted in printout)A(\O@APB@AW~? AA&"AAiNA"AZAbAjArAzAAAACrAs@AAu=A+ATۿA$Aӂ*A,:?2Ap׽:A<BA,:?JAp׽RA<٘i)I9s@Y^G J߆C=JJJJ F&K Y?T~?ybDLAC Fj7j7Q9)B[[Û@[*V~?[ͨ[[[[BZYY i) FIiy@ = sH))sH@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040160.303165 s, next control iter: 1743040160.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 136592, header.stamp.nsec: 020 temperature: 13.3863812* salinity: 33.3914912, density: 1025.0000002* values[0]: 0.7018822F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040160.703165 s.ֺ J~,-+AJ"J*J2J:J3?BJ3?nJh<5vJAQ@Ahx@AW~? APA&"AAiNA"AZAbAjArAzAAA+boAbTrAYs@A@[Ao=AǬAڿAkA *A:?2A׽:AM<BA:?JA׽RAM<٘i)I9Ys@YG JB=JJJJ F&K YT~?y!KAD F779.B)BE[[+@[z"V~?[Ө[[[[BZYY i) 1Iit|@]!= #))#M@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040160.723165 s, next control iter: 1743040161.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040161.123165 s.5J~,TG+AAGậ@Aԭ@AfW~? A AP&"AA3iNA"AZAbAjArAzAAA 7tbA%;rAr@A<;Aׇ=AaA ٿAAj*A.:?2A g׽:A<<BA.:?JA g׽RA<<٘i)I9r@YG JC=JJJJ F&K YMT~?y޶KAE Fb7曻9/B)BE[[@[V~?[kڨ[[[[BZYY i) &-Ii@a#=  ː)) ːݤ@纪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040161.143165 s, next control iter: 1743040161.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040161.543165 s.IJ~,b+AJ"J*J2J:J3?BJ3?nJP<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077059< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743040161.543289F (some fields omitted in printout)A= ף@Azؘ@AYV~? AĩA9&"AAiNA"AZAbAjArAzAAA'! AzrAD~r@A~`A7=Ak8A`IؿAA *A:?2A׽:A=BA:?JA׽RA=٘i)I9~r@YG JJJJJ F&K YT~?y;KAG F77{79)B[[I@[V~?[[[[[BZYY i) Ȇ=Iiu@b%= ))k@ᾪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040161.563165 s, next control iter: 1743040161.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13660, header.stamp.nsec: 00 temperature: 13.386569* salinity: 33.391487, density: 1025.000000* values[0]: 0.701190F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040161.963165 s.wJ~,}+AAffff&@AC(^@AV~? A˩Amu&"AAiNA"AZAbAjArAzAAAm-AI%rAr@A;A=AA@ؿAC.Az*A:?2Aֽ:Au=BA:?JAֽRAu=Y#@y=;ٓH`ؿ`?` vؿk``0z? 7?)#@ I٘i)I9r@YOG J苼J<<JJJ F&KGx> YT~?yƨJAH F{7Z7|9.B)BE[[mٌ@[ V~?[u[[[[BZYY i) gLIiE@&= Q))Qh@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040161.983165 s, next control iter: 1743040162.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040162.383165 s.%J~,/+AJ"J*J2J:JBJnJvJA(\@A=O@AV~? AҩA&"AAAwiNA"AZAbAjArAzAAA|<A hrAЌq@AFR<A斐=AC&AwL׿A jAW**A9?2Aֽ:A!5 =BA9?JAֽRA!5 =٘i)I9q@YG JJJJJ F&K YT~?yΨ|JAI F777G9)B[[h@[V~?[ [[[[BZYY i) V\IiD@P(= ))@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040162.403165 s, next control iter: 1743040162.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13661&, header.stamp.nsec: 0&0 temperature: 13.386780&* salinity: 33.391472&, density: 1025.000000&* values[0]: 0.700387&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040162.803165 s.vA,J~,wg+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077059< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743040162.803284F (some fields omitted in printout)A둮@A C䄮@AV~? A٩Ad&"AAciNA"AZAbAjArAzAAAJ0H$A6krA, q@AN<A=AA`9vֿAA*A9?2ANֽ:Ac =BA9?JANֽRAc =٘i)I9 q@YG JJJJJ F&K Y4T~?yרJAK F{7{79/B)BE[[j@[U~?[[[[[BZYY i) QkIis@)= ه))هe@^ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040162.823165 s, next control iter: 1743040163.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040163.223165 s.g3J~,HΨ+AJ"J*J2J:JBJnJvJAzǮ@AL@AV~? AAR&"AAPiNA"AZAbAjArAzAAAp(kA]SCrA8p@A-;Am=AA`ƛտA`AAZ*A9?2ASֽ:A =BA9?JASֽRA =٘i)I9p@YeG JJJJJ F&K YUT~?y ߨIAL Fj7j7ܤ9)BE[[@[U~?[8[[[[BZYY i) '{Iiх@3I+= {)){|@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040163.263165 s, next control iter: 1743040163.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040163.643165 s.u9J~,*+AA ףp@Ad@AV~? A'A2N&"AA>iNA"AZAbAjArAzAAAA'.{rAp@AAS=A(AƽԿA A*A9?2AP׽:AXr =BA9?JAP׽RAXr =٘i)I9p@YG JJJJJ F&K YvT~?yA_IAM F{7{79)B[[@[U~?[[[[[BZYY i) FIi^@E-= k))k4@ЪYFtReceived state from Gazebo (printed only once in a while):F2 header.stamp.sec: 13662, header.stamp.nsec: 0F0 temperature: 13.386964* salinity: 33.391457, density: 1025.000000* values[0]: 0.699515F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743040163.663165 s, next control iter: 1743040164.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040164.063165 s.@J~,N +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: -0.086231< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743040164.063291F (some fields omitted in printout)A33333@AD(&@AV~? AqA&"AA-iNA"AZAbAjArAzAAA6A"rA݁o@AsAAߙ=AzAӿA-LA*A9?2Am}׽:A~ =BA9?JAm}׽RA~ =Yg@"y7ݙ=MAٓHqҿ??L`pҿ@D7I# R?)g@ I٘i)I9o@YG JJf<JJJ F&Kx> YMT~?yHAO Fŧ7b7q9)B[[d@[U~?[{[[[[BZYY i) ьIi@y.= 1))1_è@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040164.103165 s, next control iter: 1743040164.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040164.483165 s.x_GJ~,+AA\h@A.=[@AV~? AA1&"AAZiNA"AZAbAjArAzAAAVrA&mrAn@AXAl=AAҿAB~Azn*Ac9?2Azh׽:Ar=BAc9?JAzh׽RAr=٘i)I9n@YtG JJJJJ F&K Y$T~?yHAP F7777<9-B)BE[[n/@[U~?[([[[[BZYY i) [Iiڈ@+/= }))}iQ@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040164.503165 s, next control iter: 1743040164.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13663, header.stamp.nsec: 00 temperature: 13.387177* salinity: 33.391457, density: 1025.000000* values[0]: 0.698623F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040164.903165 s.MJ~,9+AJ"J*J2J:J2?BJ2?nJ;5vJAQ@Ab @AV~? A:AX&"AA[ iNA"AZAbAjArAzAAAwAG&frAun@A2A=Ɵ=AMA@ҿAA*A9?2A׽:Ah=BA9?JA׽RAh=٘i)I9un@Y!G JJJJJ F&K YT~?y)HAQ F79)B[[ @[U~?[[[[[BZYY i) 囼Ii߉@z0= y))yߩ@yf۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040164.923165 s, next control iter: 1743040165.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040165.323165 s.yTJ~,2T+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086231< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743040165.323289F (some fields omitted in printout)AGzԯ@Aanrǯ@A͈V~? AA&"AAhNA"AZAbAjArAzAAAąALsAhm@A+:A*=AA;ѿA@A*A'9?2A#ֽ:A&d=BA'9?JA#ֽRA&d=٘i)I9m@YG JƩB=JJJJ F&K YyT~?yGAS Fѭ9)B[[5J@[U~?[[[[[BZYY i) pIi@2= Uu))Uu0l@:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040165.343165 s, next control iter: 1743040165.723178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13664., header.stamp.nsec: 0.0 temperature: 13.387400.* salinity: 33.391418., density: 1025.000000.* values[0]: 0.697711.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040165.743165 s.W[J~,o+AJ"J*J2J:J2?BJ2?nJJ;5vJAףp= @A1@A|V~? AB A}&"AAhNA"AZAbAjArAzAAARVgA!9U"sAOm@A,<Aa=AGAXпAwAO*A.9?2APeֽ:AJ=BA.9?JAPeֽRAJ=٘i)I9Om@YoG JC=JJJJ F&K YqT~?ycZGAT Fb779)¯BE[[֑@[U~?[/#[[[[BZYY i) ?Iiv@3= up))up@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040165.763165 s, next control iter: 1743040166.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040166.163165 s.}bJ~,q+AA@@A@2@AvV~? AAL&"AAhNA"AZAbAjArAzAAAƩ=AT sAвl@AG_<A>=AGAοA ,A*A9?2A^ֽ:A2~=BA9?JA^ֽRA2~=Y@1y:=`<ٓHCȿ@g? &ܝ@N|ȿ2!O?G?)@ I٘i)I9l@YG JJR<JJJ F&K,x> YKlT~?yFAU F{7{7g9,B)ƯBE[[c@[U~?[)[[[[BZYY i) OIi@i4=  Ol)) Ol@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040166.183165 s, next control iter: 1743040166.563181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040166.583165 s.hJ~,S+AJ"J*J2J:Jz2?BJz2?nJ&;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086231< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743040166.583307F (some fields omitted in printout)A)\u@A'h@AWnV~? AAgT&"AAhNA"AZAbAjArAzAAAKVArsA=l@Ae<Aī=AA ߿A@]ͿA pSA*A9?2AOֽ:A=BA9?JAOֽRA=٘i)I9l@YG JSJJJJ F&K YfT~?y"wFAW F7ŧ729)̯B[[@[$U~?[0[[[[BZYY i) Ii@C5= g))g@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040166.623165 s, next control iter: 1743040166.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13665, header.stamp.nsec: 00 temperature: 13.387656* salinity: 33.391415, density: 1025.000000* values[0]: 0.696657F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040167.003165 s.x pJ~,L4+AAR@A/x@AfV~? A7$A~ &"AAhNA"AZAbAjArAzAAAXmAe7&sAmk@A/:AU=A XܿA9;˿A wA.ü*AB9?2Aֽ:A)=BAB9?JAֽRA)=I٘i)I9mk@YIG J¼JJJJ F&K YaT~?yM+FAX Fb779)ѯB[[}@[U~?[\7[[[[BZYY i) MIiv@Z6= c))c@;YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743040167.023165 s, next control iter: 1743040167.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040167.423165 s.uvJ~,۩+AJ"J*J2J:JBJnJvJA{G@A;԰@A:_V~? A+A' &"AAhNA"AZAbAjArAzAAASXv A ]sA3j@AA^=AٿA]ɿAALbļ*A9?2AEJ׽:A,=BA9?JAEJ׽RA,=٘i)I9j@YG JüJJJJ F&K Y1\T~?y3EAY F{7{7Ƕ9)֯BE[[ @[U~?[>[[[[BZYY i) OȼIi@U7= _))_+@VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040167.443165 s, next control iter: 1743040167.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13666, header.stamp.nsec: 00 temperature: 13.387919* salinity: 33.391415, density: 1025.000000* values[0]: 0.695533F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040167.843165 s.|J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086231< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200962 time: 1743040167.843378F (some fields omitted in printout)Ap= @A#ظ @AqXV~? A3A؏ &"AAThNA"AZAbAjArAzAAA# H A7sA##j@AH\A=ARֿA&ǿA@A-Ǽ*A39?2ALV׽:AQ=BA39?JALV׽RAQ=٘i)I9#j@YG JżJJJJ F&K YVT~?y<"EA[ F779)ۯB[[@[U~?[D[[[[BZYY i) ϼIi@;9= Z))Z@jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040167.863165 s, next control iter: 1743040168.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040168.263165 s.J~,8+AJ"J*J2J:J1?BJ1?nJ:5vJAL@A?@A-RV~? A;A> &"AAihNA"AZAbAjArAzAAAYE A?9l"sAtyi@At5Aô=A^eԿA`ſA`1Amͼ*A9?2A׽:A=BA9?JA׽RA=Yk@{Կy=n*6ٓH̶g?7)j? o`@F@~ ?)k@ I٘i)I9yi@YG JʼJ[<JJJ F&K_x> YMTT~?yUEDAԿ\ FZ7Z7\9)B[["@[U~?[K[[[[BZYY i) ּIi@9= ^V))^VC@YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040168.283165 s, next control iter: 1743040168.663180 s, wait time: 0.380015 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 136672, header.stamp.nsec: 020 temperature: 13.3881692* salinity: 33.3914222, density: 1025.0000002* values[0]: 0.6943712F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040168.683165 s.lJ~,o++AA(\@AGu@AmLV~? AyCA] &"AAEhNA"AZAbAjArAzAAAf > Aqg:'sAh@A :A=AѿA@nÿA(ACռ*A9?2Aֽ߰:AF=BA9?JAֽ߰RAF=٘i)I9h@Y G JмJJJJ F&K YQT~?yN0DA] F77'9)B[[.@[U~?[BR[[[[BZYY i) ޼Ii@MC:= Q))Q)Ю@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040168.683165 s, next control iter: 1743040169.083179 s, wait time: 0.400014 s rAdjusting time to match Gazebo time: 1743040169.103165 s.J~,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: -0.086231< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743040169.103284F (some fields omitted in printout)AQ@A+MF@A/GV~? AbKA &"AAhNA"AZAbAjArAzAAA$ A⎛,sAh@AŲ;A=AdϿApAA;ܼ*A9?2ANֽ:A/=BA9?JANֽRA/=٘i)I9h@Y? G JؼJJJJ F&K YBOT~?yVCA_ F77779+B)BE[[:@[.U~?[X[[[[ZZ¸BZYY i¸:k=) ѼIi1@ ;= =M))=M\@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040169.123165 s, next control iter: 1743040169.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040169.523165 s.J~,{a+AAHz@AZ @AtBV~? AQSA2) &"AANhNA"AZAbAjArAzAAA3(/ A b0sAWg@A=U<Aݸ=AY̿A`IAAY*Aa9?2A%ֽ:A =BAa9?JA%ֽRA =٘i)I9Wg@Y G J߼JJJJ F&K YLT~?y_=CA` F{7j79)B[[Ŗ@[U~?[_[[[[ZZBZYY i) żIi @G:<= AI))AI@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040169.543165 s, next control iter: 1743040169.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13668, header.stamp.nsec: 00 temperature: 13.571883* salinity: 33.374996, density: 1025.000000* values[0]: 0.570165F (some fields omitted in printout)2LT~?)2_ rAdjusting time to match Gazebo time: 1743040169.943165 s.[dJ~,O]|+AJ"J*J2J:JBJnJvJAq= #@A]@A?>V~? AH[A &"AAhNA"AZAbAjArAzAAAޕ A"cަ5sAۆf@AeI<A9 =A=ʿAdA-AW*A9?2AIֽ:AF=BA9?JAIֽRAF=٘i)I9f@YM G JJJJJ F&K Y7JT~?y]hBAa F7{79)B[[9ƿ[&U~?[df[[[[ZZBZYY i) 㹼Ii@ == D))DDkYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040169.963165 s, next control iter: 1743040170.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040170.363165 s.J~,>+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083701< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743040170.363312F (some fields omitted in printout)AY@AptL@A:V~? ADcAW&"AA|hNA"AZAbAjArAzAAA5 AU:sACe@A b;AX=AmǿA xA@8>A*A9?2Aڎֽ:A`<BA9?JAڎֽRA` YJT~?y,q\BAǿc F77Rû9)BE[[Ŀ[U~?[m[[[[ZZBZYY i) *3Ii:@== ?@))?@?@y̩=ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040170.383165 s, next control iter: 1743040170.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13669&, header.stamp.nsec: 0&0 temperature: 13.572290&* salinity: 33.374996&, density: 1025.000000&* values[0]: 0.569194&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040170.783165 s.eJ~, +AJ"J*J2J:JBJnJvJA(\@A6 G JC=JJJJ F&K YJT~?yyAAd F77Ż9)B[[¿[U~?[s[[[[ZZBZYY i) ŅIi@#>= #,<))#,<#,<YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040170.803165 s, next control iter: 1743040171.183190 s, wait time: 0.380025 s rAdjusting time to match Gazebo time: 1743040171.203165 s.J~,ͪ+AAQŲ@A*@A4V~? ALsA&"AAwhNA"AZAbAjArAzAAAΝ{ A}ukDsA d@A1UAD3=A<¿AAZAS^μ*A9?2Aشֽ:A_;BA9?JAشֽRA_;٘i)I9 d@Y G JJJJJ F&K Y=KT~?yłAAf F7777ƻ9) B[[p[U~?[z[[[[ZZBZYY i) זIi @>= +7))+7+7{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040171.223165 s, next control iter: 1743040171.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040171.623165 s.XJ~,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: 0.083701< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743040171.623285F (some fields omitted in printout)AG@ABf@A2V~? AW{A&"AA9thNA"AZAbAjArAzAAAFJ A:TIsAic@AiAX<AA \A@eA*A9?2Aֽ:AA3BA9?JAֽRAA3٘i)I9ic@Yh G JJJJJ F&K YKT~?y%AAg Fb77Ȼ9)B[[B[zU~?[6[[[[ZZBZYY i) (Ii@?= u3))u3u3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040171.643165 s, next control iter: 1743040172.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13670 , header.stamp.nsec: 0 0 temperature: 13.572676 * salinity: 33.374985 , density: 1025.000000 * values[0]: 0.568194 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040172.043165 s.J~,+AA= ף0@ABwI#@A1V~? AeA&"AAgqhNA"AZAbAjArAzAAAwm AQ>NsAb@APA#<AAAnA*A9?2A7ֽ:ABA9?JA7ֽRA٘i)I9b@Y G JB=JJJJ F&K YKT~?ya@Ah F{7{7|ʻ9)BE[[[wU~?[އ[[[[ZZBZYY i) ]~Ii@y@= O/))O/O/xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040172.063165 s, next control iter: 1743040172.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040172.463165 s.XJ~,+AJ"J*J2J:JBJnJvJAfffff@AZY@A 0V~? AuA=&"AAbohNA"AZAbAjArAzAAA&) A٥+SsAb@A :AA wAAsAa>*A9?2A/ֽ:A3BA9?JA/ֽRA3Yn@Zwyy :ٓH ? ? cq!?@v?୽w?P[??)n@ I٘i)I9b@Y G J!iC=JEJJJ F&Kx> Y%OT~?y%@Awj F)77G̻9)B[[蹿[U~?[[[[[ZZBZYY i|=) >lIi@δ@= #*))#*#*(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040172.503165 s, next control iter: 1743040172.863179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13671, header.stamp.nsec: 00 temperature: 13.572965* salinity: 33.374989, density: 1025.000000* values[0]: 0.567522F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040172.883165 s.yJ~,<8+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.061745< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743040172.883297F (some fields omitted in printout)A(@A@A/V~? AAD&"AA,nhNA"AZAbAjArAzAAAefx AXsACb@A+<AkA^׷A9zAXvA *A9?2Asֽ:AڪBA9?JAsֽRAڪ٘i)I9Cb@Y G JJJJJ F&K Y^RT~?yꥩ@Ak F77{7λ9,B)BE[[㹷[U~?[6[[[[ZZBZYY iᛔ=) Q)YIi@0@= c&))c&c&)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040172.903165 s, next control iter: 1743040173.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040173.303165 s.J "J *J 2J :J <?BJ <?nJ J5vJ _J~,gS+AAѳ@A"ij@A/V~? AA&"AAmhNA"AZAbAjArAzAAAK A]sA"b@A\<AAA8A@5?A`vAZ*A}9?2Aֽ:AȼBA}9?JAֽRAȼ٘i)I9"b@Y G J윻JJJJ F&K YUT~?y@Al F77ϻ9)B[[[U~?[ۛ[[[[BZYY i) tBFIi@KA= C"))C"C"c5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040173.323165 s, next control iter: 1743040173.703182 s, wait time: 0.380017 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13672*, header.stamp.nsec: 0*0 temperature: 13.573105** salinity: 33.374996*, density: 1025.000000** values[0]: 0.567199*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040173.723165 s.J~,Hn+AAz@AAΡ@A0V~? AAo &"AA)nhNA"AZAbAjArAzAAA%1 APSasA<$b@A<At4AAt͗?AetA2;*A9?2Aֽ:A BA9?JAֽRA 缙٘i)I9$b@Y G JbJ9JJJJ F&K YXT~?yu@An F77ѻ9)E[[^[U~?[y[[[[BZYY i) ]3Ii@A= O))OOy'=Rr*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040173.743165 s, next control iter: 1743040174.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040174.143165 s.Z/J~,*+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072563< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.420010J2 time: 1743040174.143287F (some fields omitted in printout)"J*J2J:JBJnJvJA ףp=@A/d0@A-1V~? AAk&"AAZohNA"AZAbAjArAzAAA  A3:fsADb@AIA>:ZAMAr?ApoA;*A9?2AMZֽ:ABA9?JAMZֽRA٘i)I9Db@Y G J;JJJJ F&K Y\T~?y:@Ao F7rӻ9)B[[1[U~?[[[[[BZYY i) Gx Ii4@%B= oS))oSoS7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040174.163165 s, next control iter: 1743040174.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040174.563165 s.J~,9 +AA3333s@AAA)f@A2V~? A̳Ah&"AAUqhNA"AZAbAjArAzAAAӯv ADžhksAb@A'ARyA4Ai?A gAt@6<*A9?2Aֽ:Az BA9?JAֽRAz Y@ yOy'rٓH`kM?kC?Xm3YG?y?%?ܤs?)@ I٘i)I9b@Y G J2<J=JJJ F&Kv> YbT~?yȩ9AAp F7=ջ9)B[[G[ U~?[[[[[BZYY iPh=) Ii@dB= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040174.603165 s, next control iter: 1743040174.963174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13673, header.stamp.nsec: 00 temperature: 13.573067* salinity: 33.374996, density: 1025.000000* values[0]: 0.567277F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040174.983165 s.J~,쾫+AJ"J*J2J:J9?BJ9?nJG5vJA\@A4뛴@A4V~? AػA'1&"AAthNA"AZAbAjArAzAAA\.x ApsAb@AifAAlAB?A ]Aj<*A9?2Aս:AEBA9?JAսRAE٘i)I9b@Y G J&O<JJJJ F&K YhT~?yrѩAAr F77׻9-B)BE[[ج[U~?[+[[[[BZYY i) Ii@\~B= ߡ))ߡߡع*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040175.003165 s, next control iter: 1743040175.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040175.403165 s.&J~,٫+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056670< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743040175.403279F (some fields omitted in printout)AQ޴@A1Ѵ@A7V~? AêA(&"AAwhNA"AZAbAjArAzAAAk8 APadusAEc@Av8Al쑽AaA?A@^QA<*A9?2AI5ֽ:A_BA9?JAI5ֽRA_٘i)I9Ec@YR G J<JJJJ F&K Y&nT~?y کAAs FZ7Z7ػ9)B[[[oU~?[[[[[BZYY i) bIi@ B= #I ))#I #I /*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040175.423165 s, next control iter: 1743040175.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13674", header.stamp.nsec: 0"0 temperature: 13.572917"* salinity: 33.374996", density: 1025.000000"* values[0]: 0.567637"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040175.823165 s.J~,%+AJ"J*J2J:JBJnJvJAGz@AOo@A:V~? A˪A{&"AA |hNA"AZAbAjArAzAAAT AH~zsAc@A*AAA ?A@BA̙<*A<9?2Aֽ:ABA<9?JAֽRA٘i)I9c@Y G JÓ<JJJJ F&K Y0tT~?y4BAt F7)7ڻ9.B)BE[[[U~?[+é[[[[BZYY in=) »Iik@fC= [))[[yph=t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040175.843165 s, next control iter: 1743040176.223175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040176.243165 s.J~,+AAףp=J@A0=@Af>V~? AӪA/[&"AA8hNA"AZAbAjArAzAAAGvlԑ AN_sAFd@Af ;AAnA"?A1A7Y<*A˰9?2A9ֽ:A # BA˰9?JA9ֽRA # ٘i)I9Fd@Y G J4<JJJJ F&K Y:zT~?yDBAv F77gܻ9) B[[qU[8U~?[ɩ[[[[BZYY i) :IIi@PC= ))yҋh= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040176.263165 s, next control iter: 1743040176.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040176.663165 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: 0.066129< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743040176.663297F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13675, header.stamp.nsec: 00 temperature: 13.572656* salinity: 33.374996, density: 1025.000000* values[0]: 0.568250F (some fields omitted in printout)A@Aar@ABV~? A۪AV%"AA3hNA"AZAbAjArAzAAA?Y5+ A]<ٓH?d?P .Q@?@?J?q??)Z@ I٘i)I9d@YB G JǢ<B=JJJJ F&K:x> Y T~?yBAuw F7{72޻9)BE[[e*["V~?[Щ[[[[BZYY i) "Ii@ elevatorAngleAction: 0.066129< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743040177.923319F (some fields omitted in printout)A{G!@An;@AqRV~? AA%%"AAhNA"AZAbAjArAzAAA*+ AsA{f@AΪAANA@?AAx<*A9?2Am Awd^AsAg@AYA瓽AA?ApACS<*A9?2AKֽ:ABA9?JAKֽRAY0@+oy-䓽{ZٓH`?>?f`'@I?B?ix? =`?)0@ I٘i)I9g@Y G Jy<JF;JJJ F&Kx> YT~?y!DAo~ F777'91B)B!E[[Q[&V~?[[[[[BZYY i) :Ii(@$B= 'Ӿ))'Ӿ'Ӿ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040178.783165 s, next control iter: 1743040179.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040179.183165 s.2J~,ˬ+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066129< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743040179.183273F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\¶@A6U@AfV~? A A<%%"AAhNA"AZAbAjArAzAAA\EѸyA sA1h@A>A A䐿A@]?AEuA<*A9?2Aֽ:ABA9?JAֽRA٘i)I91h@YQ G J<JJJJ F&K Y=T~?y,%UEA F779)B[[S&[.V~?[[[[[BZYY i) rC:Ii@`?B= yʾ))yʾyʾ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040179.223165 s, next control iter: 1743040179.583174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743040179.603165 s.849J~,+AAQ@A#F@AnV~? AAL%"AAhNA"AZAbAjArAzAAA Am3=sAh@AC;ALA1A`6?AoPAH?<*A9?2A ֽ:A#BA9?JA ֽRA#٘i)I9h@Y G J<JJJJ F&K YT~?y7-EA F77{79)B[[[17V~?[[[[[BZYY i) ܗ;Ii@4A= ))=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040179.623165 s, next control iter: 1743040180.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13678 , header.stamp.nsec: 0 0 temperature: 13.571814 * salinity: 33.375004 , density: 1025.000000 * values[0]: 0.570288 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040180.023165 s.J "J *J 2J :J ?BJ ?nJ 5vJ Z@J~,-|+AAHz.@An2 !@AwV~? AMAS%"AA6hNA"AZAbAjArAzAAA elevatorAngleAction: 0.066129< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199472 time: 1743040180.443264F (some fields omitted in printout)Aq= c@A/V@AV~? A!Aac%"AA2hNA"AZAbAjArAzAAAz-^A,sAԹi@Auc<AuA[㈿A`Cm?AhAo<*A79?2A$׽:AoBA79?JA$׽RAo󼙘٘i)I9i@Y@G J<JJJJ F&K YT~?yM=FA F{7{7R9)B[[;[HV~?[,[[[[BZYY i) Ì;Ii@B= 6e))6e6e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040180.463165 s, next control iter: 1743040180.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13679, header.stamp.nsec: 00 temperature: 13.571490* salinity: 33.375019, density: 1025.000000* values[0]: 0.570960F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040180.863165 s.+MJ~,>7+AJ"J*J2J:J*?BJ*?nJD5vJA@Aq@A0V~? Aq)A%"AAhNA"AZAbAjArAzAAAϑs{A nsA*4j@Ao3<AASA@#Q?AAc<*A9?2Aֽ:A\BA9?JAֽRA\Yr@ggy:|<ٓH ? K? @) ?`?`?@]?@W?)r@ I٘i)I94j@YG J<J]O<JJJ F&K1x> YT~?yDFAg Fj7Z79)B[[u[(RV~?[0[[[[BZYY i=) Fԫ;Ii@A= V))VV*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040180.903165 s, next control iter: 1743040181.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040181.283165 s.;RTJ~,R+AA(\Ϸ@AXP·@AV~? A0A<%"AAmhNA"AZAbAjArAzAAAQ+dU6AO*sAj@AQ A$A̓A@1?A@An<*Ao9?2AYֽ:AgBAo9?JAYֽRAg٘i)I9j@YG J<JJJJ F&K YT~?yL7GA Fj793B)ޯB(E[[+I[[V~?[+[[[[BZYY i) ;IiJ@_@= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040181.303165 s, next control iter: 1743040181.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13680., header.stamp.nsec: 0.0 temperature: 13.571208.* salinity: 33.375004., density: 1025.000000.* values[0]: 0.571551.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040181.703165 s.J "J *J 2J :J Q?׺ZJ~BJQ?nJl5vJ,m+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076419< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743040181.703272F (some fields omitted in printout)AQ@Ai:;@ASV~? AW8AG%"AA iNA"AZAbAjArAzAAAZ" AԊ[sA(k@AR AAFA@?A uAG<*A@9?2A [ֽ:ABA@9?JA [ֽRA٘i)I9(k@YG Jb<B=JJJJ F&K Y U~?y:TGA Fŧ7794B)ۯB)E[[o[eV~?[[[[[BZYY i) ;Ii@ ?= N))NN*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040181.723165 s, next control iter: 1743040182.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040182.123165 s.AaJ~,⇭+AAG:@A"ߥ-@AV~? A?A%"AAiNA"AZAbAjArAzAAAlA O.sA̡k@AxVdA+Ah}A o?A`MCA<*A:9?2ARֽ:ApBA:9?JARֽRAp٘i)I9k@YiG JB<C=JJJJ F&K YU~?y[GA F)7ŧ7}95B)دB,E[[퇿[!pV~?[[[[[BZYY i) ? elevatorAngleAction: 0.076419< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743040182.963314F (some fields omitted in printout)Affff@A'_[@A V~? A.NA%"AA=iNA"AZAbAjArAzAAAN Yu6U~?yjHAr F7796B)ѯB/E[[[V~?[+[[[[BZYY i) =#= ,Vx)),Vx,Vx*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040182.983165 s, next control iter: 1743040183.363199 s, wait time: 0.380034 s rAdjusting time to match Gazebo time: 1743040183.383165 s.uJ~,/ح+AJ"J*J2J:J?BJ?nJ5vJA(ܸ@Aϸ@AWV~? APUAxr%"AAOiNA"AZAbAjArAzAAAmAC`sAm@A<AS^AbmA`?A˛AFڇ<*A9?2AE&׽:ABA9?JAE&׽RA٘i)I9m@Y?G JЈ<JJJJ F&K YFU~?yqIA FSI7Z797B)ϯB0E[[d[V~?[O1[[[[BZYY i) b3 elevatorAngleAction: 0.076419< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743040184.223270F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG@A:@A.V~? AUcA^%"AA8viNA"AZAbAjArAzAAA) TA!sAGm@AڷD<AhAbA)?A!A.<*Aj9?2A0׽:A!BAj9?JA0׽RA!٘i)I9m@YG J<C=JJJJ F&K YgU~?yIA F77{7r9)ȯB[[ z[V~?[<[[[[BZYY i) $R YU~?yߍ}JAX F7779)B[[Lq[PV~?[G[[[[BZYY i) p elevatorAngleAction: 0.076419< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743040185.483309F (some fields omitted in printout)A\@Ar۹@AOW~? AwA%"AAiNA"AZAbAjArAzAAA6Azk asAlio@A`?SA4헽A&SA|?A\AR<*A9?2Ah2ֽ:A@BA9?JAh2ֽRA@٘i)I9io@YG Jڠ<JJJJ F&K YƝU~?ywJA F77j79:B)B:E[[/l['V~?[M[[[[BZYY i) G elevatorAngleAction: 0.085521< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199312 time: 1743040186.743295F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=@A 2}@AW=W~? AHA M%"AAiNA"AZAbAjArAzAAAMN^Y&Ac6QsA q@Ak;A)ACA?AԁA<*A/9?2Aֽ:A&BA/9?JAֽRA&٘i)I9 q@YG J<JJJJ F&K YU~?y@LA F772 9͖A?A`R4Au<*Aݨ9?2A-1׽:APBAݨ9?JA-1׽RAPY8@ۡ>y #h@<ٓHu??ʗA^?h? ˳?p? ?)8@ I٘i)I9q@Y G J<J$$JJJ F&K>x> YU~?y7zLA> Fb77 9)B[[\[[W~?[ b[[[[BZYY i) \GB)BDE[[?V[W~?[ g[[[[BZYY i)  elevatorAngleAction: 0.085521< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743040188.003296F (some fields omitted in printout)AR+@Az@A&oW~? A띫A%"AA"DjNA"AZAbAjArAzAAAhʚ?AiͱsAׯr@Aj: <A A 4A ?A@+A <*Aq9?2Awֽ:A(BBAq9?JAwֽRA(B٘i)I9r@YG Jé<JJJJ F&K Y.V~?y%OMA F7b79)BGE[[gR[!W~?[#l[[[[BZYY i)  < elevatorAngleAction: 0.085521:J< massPositionAction: 0.000000BJ4 buoyancyAction: 0.000500nJvJ dt: 0.4198992 time: 1743040189.263296F (some fields omitted in printout)A̻@Aÿ@A~W~? AAm%"AAjNA"AZAbAjArAzAAAq?A#^ytAt@AdA AC$A?A қAn<*A9?2Abֽ:AYBA9?JAbֽRAYYy@$yYxeٓH@?`6?3`M?? ?`?)y@ I٘i)I9t@YG JM<JJJJ F&Kw> YGTV~?yY˪NA$ Fj7SI79@B)BME[[OE[gOW~?[z[[[[BZYY i) y elevatorAngleAction: 0.085521< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743040190.523282F (some fields omitted in printout)AHzn@Aρa@A/W~? A1A89%"AAjNA"AZAbAjArAzAAAbv?AwH2tAv@Ar <AdAA ڌ?A߿AHb<*AL9?2A ׽:ABAL9?JA ׽RA٘i)I9v@YG J<JJJJ F&K YV~?y+۪OA FS9)BUE[[8[W~?[[[[[BZYY i) Vׯ+AAټ@A>B̼͐@AX~? AʫA^j%"AAp$kNA"AZAbAjArAzAAA+ j'?A2DtAw@AH?<A촽AH A0+?A@ݿAX<*A9?2Aֽ:A[BA9?JAֽRA[Y;@p y贽V@<ٓH@Q? t?洿`k@&q?? ?@??);@ I٘i)I9w@YG J<C=J(JJJ F&K x> YV~?yPA  FZ7Z79CB)BXE[[/[=W~?[p[[[[BZYY i)  elevatorAngleAction: 0.085521< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743040191.783277F (some fields omitted in printout)A(\@AXS@A X~? AϫA%"AABkNA"AZAbAjArAzAAAۇng@AY;љtAx@Ag;APAACA`Fv?AܿA<*Aـ9?2AVֽ:A^BAـ9?JAVֽRA^٘i)I9x@YDG J<JJJJ F&K YV~?yZQA F779)B[E[[K*[cW~?[[[[[ZZZZ¸>BZYY i¸> ) ))y >y >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040192.223165 s, next control iter: 1743040192.603174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743040192.623165 s.V J~,X'+AJ"J*J2J:JBJnJvJAGz@Am@ABX~? Aa٫AF%"AARkNA"AZAbAjArAzAAAzvV@AktAw z@AyUA׍A`uA ?A9aۿA<=*A9?2Aս:A%BA9?JAսRA%٘i)I9 z@Y0G J<JJJJ F&K YJW~?yMRA F)7ŧ7H"9EB)uB_E[[![W~?[[[[[ZZZZBZYY i) ;))pm>pm>m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040192.643165 s, next control iter: 1743040193.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13691 , header.stamp.nsec: 0 0 temperature: 13.567473 * salinity: 33.375099 , density: 1025.000000 * values[0]: 0.579498 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040193.043165 s.¨J~,B+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082523< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743040193.043300F (some fields omitted in printout)A= ף@AƄ@AWX~? AޫAx%"AA9kNA"AZAbAjArAzAAAGsWY@AT!tAz@AOAZAAI?A`ڿA=*A9?2Aֽ:AqBA9?JAֽRAq٘i)I9z@YG J=JJJJ F&K Yu'W~?yRA F{7{7$9FB)nBbE[[o4[W~?[[[[[ZZZZBZYY i) ))m/>m/>y4gf*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040193.083165 s, next control iter: 1743040193.443189 s, wait time: 0.360024 s rAdjusting time to match Gazebo time: 1743040193.463165 s.J "J *J 2J :J z?BJ z?nJ 5vJ [J~,]+AAffff@A[ٽ@APmX~? AA%"AAkNA"AZAbAjArAzAAA^8c@An)ʓ$tAV{@AVA.uA^AN?A'ٿA<*A#9?2AOֽ:AU*lBA#9?JAOֽRAU*lY@b4yKu1UٓH?E?p@3ۿ`? O?{?u9?)@ I٘i)I9{@Y?G JN=J=JJJ F&Kw> Y AW~?ySA4 Fb77%9)hBeE[[[W~?[[[[[ZZZZBZYY i) je))0SA>0SA>8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040193.483165 s, next control iter: 1743040193.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13692, header.stamp.nsec: 00 temperature: 13.566965* salinity: 33.375126, density: 1025.000000* values[0]: 0.580567F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040193.883165 s.yJ~,8x+AA(@Ay@AX~? AA :%"AAfkNA"AZAbAjArAzAAA]n?t @Ax?'tAx|@A^(;A0Ak־A@?ApٿA<*AH9?2Amfֽ:A+>BAH9?JAmfֽRA+>٘i)I9|@YG J<JJJJ F&K YZW~?ykSA F77'9GB)cBhE[[;[O X~?[۩[[[[ZZZZBZYY i)  $))`QS>`QS>t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040193.903165 s, next control iter: 1743040194.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040194.303165 s.T$J~,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: -0.082523< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743040194.303269F (some fields omitted in printout)AQ@AD@A8X~? A&A%"AAlNA"AZAbAjArAzAAAD? @A>,)tA(}@AodX<ANԼAA̾A?AN6ؿA<*A9?2AYֽ:A6,;BA9?JAYֽRA6,;٘i)I9(}@YG Jh<JJJJ F&K Y-tW~?yZSA Fj7Z7s)9)^BkE[[C[X~?[[[[[ZZZZBZYY i) ))`fe>`fe>*YFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743040194.323165 s, next control iter: 1743040194.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13693., header.stamp.nsec: 0.0 temperature: 13.566521.* salinity: 33.375137., density: 1025.000000.* values[0]: 0.581528.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040194.723165 s.+J~,H+AAz@Aez@AX~? A?AH%"AAY%lNA"AZAbAjArAzAAA|@Aim V,tA/}@A&p<AfAZAQ?A3e׿Aөy<*A9?2AvJֽ:A!"<BA9?JAvJֽRA!"<٘i)I9}@Y`G JZ<JJJJ F&K YW~?yTA F77=+9)ZB[[+ [.2X~?[H[[[[ZZZZBZYY i) 衊)) w> w>^)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040194.743165 s, next control iter: 1743040195.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040195.143165 s.`/2J~,0*ɰ+AJ"J*J2J:J?BJ?nJ35vJA ףp@AHߤi@A>X~? A4AE%"AAsGlNA"AZAbAjArAzAAAh@A%P.tA~@AEo<A(;AA@?AֿA?/<*A9?2A[ֽ:A\<BA9?JA[ֽRA\<٘i)I9~@YG JzZ<B=JJJJ F&K YUW~?y bTA F7-9HB)XBnE[[ǜ[EX~?[۴[[[[ZZZZBZYY i) 4~))(>(>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040195.163165 s, next control iter: 1743040195.543182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040195.563165 s.8J~,[ +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082523< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199492 time: 1743040195.563278F (some fields omitted in printout)A3333@A)@A%X~? AA%"AAilNA"AZAbAjArAzAAA@f,}@Aqdg1tA>~@A, ˺Af<AA ,?A2տA[;*A9?2A.ֽ:A<BA9?JA.ֽRA~@YG Jz<C=JC>JJJ F&K6x> Y W~?y ETA Fŧ77.9)VBqE[[[XX~?[L[[[[ZZZZBZYY i6n) rl))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040195.603165 s, next control iter: 1743040195.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13694, header.stamp.nsec: 00 temperature: 13.566205* salinity: 33.375156, density: 1025.000000* values[0]: 0.582123F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040195.983165 s.?J~,+AJ"J*J2J:JBJnJvJA\(@A@ALX~? AAa%"AA֌lNA"AZAbAjArAzAAA]+s@AZlP3tA]~@A))y >y >:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040196.003165 s, next control iter: 1743040196.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040196.403165 s.&FJ~,+AAQ^@AŠSQ@A Y~? A4Aj%"AAlNA"AZAbAjArAzAAA P@AM v5tA\~@AdA`6=AA6?A`ԿAz=*A9?2Aֽ:Ae5<BA9?JAֽRAe5<٘i)I9\~@YG J{׸JJJJ F&K YqW~?y TA F77{7h29JB)WBxE[[[X~?[꾪[[[[BZYY i) szH))1>1>yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040196.423165 s, next control iter: 1743040196.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13695", header.stamp.nsec: 0"0 temperature: 13.566018"* salinity: 33.375168", density: 1025.000000"* values[0]: 0.582410"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040196.823165 s.LJ~,)4+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J2J8 propOmegaAction: 25.132812:J< rudderAngleAction: -0.261799BJ@ elevatorAngleAction: -0.068818nJ< massPositionAction: 0.000000vJ4 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743040196.823287F (some fields omitted in printout)AGz@A"uq@AM#Y~? AA&%"AAlNA"AZAbAjArAzAAA k(@A#+l7tA+<~@AAf[=AA i?A 6$ӿAװ*A9?2Aֽ:AG<BA9?JAֽRAG<٘i)I9<~@YG J0JJJJ F&K Y'X~?ySA F7349KB)YB{E[[[X~?[ª[[[[BZYY i) c6))c>c>yAWYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040196.843165 s, next control iter: 1743040197.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040197.243165 s.SJ~,~O+AAףp=ʿ@Ab0@A";Y~? AA2%"AAlNA"AZAbAjArAzAAAP T@Avn|9tA#}@AAŷy=A?A?A GҿA4*Al9?2A=ֽ:AB=BAl9?JA=ֽRAB=٘i)I9}@YG JUJJJJ F&K Y,X~?y~SA F7759)[B[[m߾[X~?[$Ū[[[[BZYY i) K$))I>I>SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040197.263165 s, next control iter: 1743040197.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040197.663165 s.ZJ~,qj+AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13696, header.stamp.nsec: 00 temperature: 13.565967* salinity: 33.375168, density: 1025.000000* values[0]: 0.582322F (some fields omitted in printout)A@AFA@A+SY~? AA%"AAmNA"AZAbAjArAzAAAD9@A4z];tA}@A<AĈ=A sA?A@FhѿANCm*A9?2A9ս:A6=BA9?JA9սRA6=Yy@ary"È=_<ٓH ?`?d? Ϳ`?~#?@]?)y@ I٘i)I9}@YbG J7OB=J=JJJ F&Kw> YSHX~?yySAar Fŧ7b779)^B~E[[_־[X~?[Ȫ[[[[BZYY iHe) ))v35>5>ϻYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040197.683165 s, next control iter: 1743040198.063177 s, wait time: 0.380012 s*SHX~?)* rAdjusting time to match Gazebo time: 1743040198.083165 s.DaJ~, S+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.252346@ elevatorAngleAction: -0.055978< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743040198.083287F (some fields omitted in printout)A)\5@A (@AfkY~? A Am%"AAt@mNA"AZAbAjArAzAAA%É;@AN%=tA;}@Aek<A=A^A`?A`пARY*AǍ9?2Aս:A*a=BAǍ9?JAսRA*a=٘i)I9;}@Y G J6C=JJJJ F&K YcX~?ySA F777799)aBE[[0;[X~?[ʪ[[[[BZYY i) 7)) >>2ȪYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743040198.103165 s, next control iter: 1743040198.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040198.503165 s.gJ~,H4+AJ"J*J2J:JBJnJvJARk@A[z^@AуY~? A A26%"AAOemNA"AZAbAjArAzAAA45a7c@A@>tA|@A><Ar=AZIA@?A;ϿA*A9?2A\Dս:A=BA9?JA\DսRA=٘i)I9|@YG JxJJJJ F&K Y?X~?yRA Fb77^;9)eBE[[þ[X~?[ͪ[[[[BZYY i) X;IiT@L= ,>)),>,>qЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040198.543165 s, next control iter: 1743040198.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13697, header.stamp.nsec: 00 temperature: 13.566031* salinity: 33.375179, density: 1025.000000* values[0]: 0.581964F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040198.923165 s.=nJ~,+AA{G@A <@AkY~? A,A%"AArmNA"AZAbAjArAzAAA:א@A?/n@tA%5|@A':;As=A4A@G?AqͿA)K*A!9?2Aս:A# =BA!9?JAսRA# =ߕI٘i)I95|@YG JJJJJ F&K YX~?y fRA F777(=9)jBE[[[PX~?[2Ъ[[[[BZYY i) D;Ii R@ m= v>))v>v>yeӪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040198.943165 s, next control iter: 1743040199.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040199.343165 s.9LB)nBE[[S[Y~?[Ҫ[[[[BZYY iִ) F2;IiO@= >))>>{ԪYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743040199.363165 s, next control iter: 1743040199.743181 s, wait time: 0.380016 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13698&, header.stamp.nsec: 0&0 temperature: 13.566182&* salinity: 33.375198&, density: 1025.000000&* values[0]: 0.581393&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040199.763165 s.A{J~,I+AA @AG@AY~? AA<%"AAmNA"AZAbAjArAzAAA cqJ@AW.bVCtA{@AaA=A A@ ?AɿAک*A̺9?2Aֽ:AlB=BA̺9?JAֽRAlB=YI@ y"=vjbٓH?u.?@f? D@?~m?8b?)I@ I٘i)I9{@YG JB=J<JJJ! F&K;v> Y'X~?y$QA  F77@9)sBE[[9[l(Y~?[ ժ[[[[BZYY i) ;Ii3K@ = }>))i~}>}>ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040199.803165 s, next control iter: 1743040200.163184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743040200.183165 s.˂J~,g +AJ"J*J2J:J?BJ?nJ5vJA(\B@A2]5@A2Y~? AAu%"AAdmNA"AZAbAjArAzAAA 9j@ATDtAz@ASA%Ֆ=AHA`?AǿA*At9?2Aֽ:A==BAt9?JAֽRA==٘i)I9z@Y}G JC=JJJJ" F&K Y X~?y3%Y~?[Kת[[[[BZYY i) Їa;IiIG@< !S>)) !S>!S>ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040200.203165 s, next control iter: 1743040200.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040200.603165 s.:4J~,&+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065286< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743040200.603290F (some fields omitted in printout)AQx@A"^Fk@AjZ~? AAFM%"AA!nNA"AZAbAjArAzAAAMc-@J@AqđAEtAZy@AA"=Aw½A?A\ƿA*A9?2A<ս:AO=BA9?JA<սRAO=٘i)I9y@Y'G J0JJJJ$ F&K Y Y~?yd&PA Fb77SD9)|BE[[q[ETY~?[m٪[[[[BZYY i) i%;IiC@]< >))>>̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040200.643165 s, next control iter: 1743040201.003180 s, wait time: 0.360015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13699 , header.stamp.nsec: 0 0 temperature: 13.566314 * salinity: 33.375225 , density: 1025.000000 * values[0]: 0.580837 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040201.023165 s.ZJ~,|A+AJ"J*J2J:J?BJ?nJ5vJAHz@A, @AZ~? AA'%"AAGnNA"AZAbAjArAzAAAO> @A&FtAoy@Az3;AY=A9A?ALĿA*A/9?2AAԽ:A=BA/9?JAAԽRA=٘i)I9oy@YG JŨJJJJ% F&K Y&Y~?y'oPA F7)7F9)BE[[[jY~?[s۪[[[[BZYY i) 6f:Ii@@<  ?)) ? ?yAɪY` YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040201.043165 s, next control iter: 1743040201.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040201.443165 s.;ÖJ~,O]\+AAq= @A:@A83Z~? AA%"AAMnnNA"AZAbAjArAzAAAj+3 @AxGtAx@AQ<AN=A".fA ?A{¿Aq*A9?2AIս:A=BA9?JAIսRA=٘i)I9x@YzG JJJJJ& F&K Y BY~?y(PA F{7j7G9)BE[[e[Y~?[Yݪ[[[[BZYY i) 1:Ii=@< (?))(?(?ŪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743040201.463165 s, next control iter: 1743040201.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13700, header.stamp.nsec: 00 temperature: 13.566458* salinity: 33.375214, density: 1025.000000* values[0]: 0.580253F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040201.863165 s.+J~,>w+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065286< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743040201.863296F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A+. @ALZ~? AAB%"AAnNA"AZAbAjArAzAAA{Ɗ6t!@A|~FHtAVx@A`<Ak=A*iA?A 6A#*A9?2AZWս:A6m=BA9?JAZWսRA6m=٘i)I9Vx@Y%G JҥJJJJ( F&K Y^Y~?y)OA F77{7I9)BE[[&r[ޗY~?[!ߪ[[[[BZYY i) Ii;@< 6 ?))6 ?6 ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040201.903165 s, next control iter: 1743040202.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040202.283165 s.8RJ~,+AA(\O@AOB@ArfZ~? AnA%"AAŻnNA"AZAbAjArAzAAAw"@A|c:ItA}w@A;A=A=WyA1?A 䅽A>*A9?2A@ս:A<BA9?JA@սRA<٘i)I9w@YG JŸJJJJ) F&K YzY~?y'+;OA F)7ŧ7~K9)BE[[_[ήY~?[[[[[BZYY i) "Ii9@< J?))J?J?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040202.303165 s, next control iter: 1743040202.683179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 137012, header.stamp.nsec: 020 temperature: 13.5665922* salinity: 33.3752372, density: 1025.0000002* values[0]: 0.5796952F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040202.703165 s.ҺJ~,+AJ"J*J2J:JBJnJvJAQ@AXPx@A0Z~? A A%"AAnNA"AZAbAjArAzAAAU)f"@AɴxJtA^Qw@A"5A-2=A7;AD?A^A@Z*A9?2Au`ֽ:A2<BA9?JAu`ֽRA2<٘i)I9Qw@YG JBB=JJJJ* F&K YY~?yX,NA E F77IM9)BE[[3K[Y~?[N[[[[BZYY i)  Ii7@f< ?))??aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040202.723165 s, next control iter: 1743040203.103173 s, wait time: 0.380008 s rAdjusting time to match Gazebo time: 1743040203.123165 s.AJ~,Dz+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065286< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743040203.123295F (some fields omitted in printout)AG@A8ԭ@AZ~? A!AE%"AA oNA"AZAbAjArAzAAA(yH#@Aj*KtAgv@A =AqR=A7v<A sT?A7絿Aӊ*A9?2AEֽ:A8<BA9?JAEֽRA8<٘i)I9v@Y=G J掼C=JJJJ, F&K YY~?y-nNA F)7)7O9SB)BE[[ 8['Y~?[[[[[BZYY i) bEIi6@|< X?))X?X?ķYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743040203.143165 s, next control iter: 1743040203.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040203.543165 s.IJ~,+AJ"J*J2J:JBJnJvJA= ף@A@AZ~? A"A%"AA0oNA"AZAbAjArAzAAAcYl#@A3#KtAfv@A*siA=AGA=Aa?AXA*A9?2Aֽ:Az<BA9?JAֽRAz<٘i)I9fv@YG JJJJJ- F&K YY~?y.NA Fb77P9)B[[%[Y~?[[[[[BZYY i) 퀻Ii6@ < ?))??ﵪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040203.583165 s, next control iter: 1743040203.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13702, header.stamp.nsec: 00 temperature: 13.566715* salinity: 33.375263, density: 1025.000000* values[0]: 0.579183F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040203.963165 s.|J~,+AAffff&@AZ@AZ~? A7#A@y%"AA;XoNA"AZAbAjArAzAAA $@A8 LtAu@AB8A=A8 =AMl?A`Ag"*AN9?2Aݸֽ:A<BAN9?JAݸֽRA@-?@ ?`?$?``f?)0@ I٘i)I9u@YG JJϼJJJ. F&K> YY~?y#.MAΈ= Fŧ7b7R9RB)BE[[[{ Z~?[[[[[BZYY i) 6MIig1@< n`$?))6jn`$?n`$?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040204.003165 s, next control iter: 1743040204.363181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743040204.383165 s.J~,Y+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J2J8 propOmegaAction: 25.132812:J< rudderAngleAction: -0.229127BJ@ elevatorAngleAction: -0.077422nJ< massPositionAction: 0.000000vJ4 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743040204.383313F (some fields omitted in printout)A(\@AgO@AZ~? A#Am%"AAoNA"AZAbAjArAzAAAy#2 %@A vaLtAu@A9Ao=A@=A^t?A {AG*A9?2A6zֽ:A|]<BA9?JA6zֽRA|]<٘i)I9u@YnG JJJJJ0 F&K YPZ~?y-WMA F7{7sT9)BE[[֋["Z~?[[[[[BZYY i) eIi-@< `)?))t`)?`)?dzYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040204.403165 s, next control iter: 1743040204.783183 s, wait time: 0.380018 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13703&, header.stamp.nsec: 0&0 temperature: 13.566827&* salinity: 33.375275&, density: 1025.000000&* values[0]: 0.578773&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040204.803165 s.wAJ~,{g3+AA@AzO@A[~? A$Ad%"AAoNA"AZAbAjArAzAAAi%@AU LtAKu@A <Ac=AQM=A}?AA.*A<:?2A]ӽ:An<BA<:?JA]ӽRAn<٘i)I9u@Y)G JAB=JJJJ1 F&K Y"Z~?y,LA Fŧ7b7>V9)BE[[Sٽ[:Z~?[[[[[BZYY i) ߻Ii;)@!< x-?)) x-?x-?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040204.823165 s, next control iter: 1743040205.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040205.223165 s.gJ~,HN+AJ"J*J2J:JBJnJvJAz@Av@A[~? AT$AC^%"AAjoNA"AZAbAjArAzAAAnj[&@AÆLtAt@Ah<Anh=A'>A@?A AV*A[ :?2Aӽ:A@=BA[ :?JAӽRA@=٘i)I9t@YG JꆼC=JJJJ2 F&K Y>Z~?y`,LA F77j7 X9)BE[[ಽ[QZ~?[[[[[BZYY i) rIi%@%< Ƴ2?))Ƴ2?Ƴ2?yn贪YyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040205.243165 s, next control iter: 1743040205.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040205.643165 s.yJ~,*i+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077422< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743040205.643298F (some fields omitted in printout)A ףp@Ad@A5[~? Ab$A[%"AAoNA"AZAbAjArAzAAA S&@A_.LtA%1t@Ar6<A=A >A@H?AI`g?Au*A:?2Aa,Խ:Am=BA:?JAa,ԽRAm=٘i)I91t@YG J]JJJJ4 F&K YZZ~?y+OLA F{7{7Y9QB)BE[[1[iZ~?[,[[[[BZYY i) aIi"@/< 7?))7?7?.Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040205.663165 s, next control iter: 1743040206.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13704, header.stamp.nsec: 00 temperature: 13.566885* salinity: 33.375286, density: 1025.000000* values[0]: 0.578324F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040206.063165 s.J~,V +AJ"J*J2J:JBJnJvJA33333@An,(&@AO[~? AF$A[%"AA]pNA"AZAbAjArAzAAAs3S'@A!ƲLtAs@AT;Af=Ah)>A|?A?A*A:?2AԽ:A=BA:?JAԽRA=Y\@)>yf=ŧ;ٓH}?!ſ@ư??? bƁ?鰿 b??)\@ I٘i)I9s@Y[G JDŽJD;JJJ5 F&Kq> YvZ~?yU*KA)> Fj7j7[9)BE[[lK[Z~?[[[[[BZYY i) }Ii@ < tQA {?Aq?A#*A9?2A`ս:A-=BA9?JA`սRA-=٘i)I9Ss@YG JXJJJJ6 F&K YZ~?y(KA F77i]9PB)BE[[ל[ߘZ~?[[[[[BZYY i) .Iiu@gm< "A?))_"A?"A?5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040206.503165 s, next control iter: 1743040206.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13705, header.stamp.nsec: 00 temperature: 13.566978* salinity: 33.375282, density: 1025.000000* values[0]: 0.577902F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040206.903165 s.J~,͹+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.258543@ elevatorAngleAction: -0.077422< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743040206.903303F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Ax}欑@A[~? A#A5f%"AAFlpNA"AZAbAjArAzAAAQ(@AmCLtAsr@A[`A=ABS>A_v?A?A-*A:?2A Խ:AT=BA:?JA ԽRAT=٘i)I9r@YG JJJJJ8 F&K Y{Z~?yk'>KA F)7b73_9)B[[/sD[ذZ~?[[[[[BZYY i) (=Iiu@N< E?)) E?E?ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040206.923165 s, next control iter: 1743040207.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040207.323165 s.vJ~,%Գ+AAGz@A=~o@A[~? A"A7p%"AApNA"AZAbAjArAzAAA'-ޔp)@A$KtA=rr@A$AKAQ=ANg>Am?Akӯ?A*A:?2A)Խ:A=BA:?JA)ԽRA=٘i)I9rr@YG JJJJJ9 F&K YXZ~?y%JA F777`9)BE[[;[Z~?[[[[[BZYY i) 7MIi@< J?))J?J?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040207.343165 s, next control iter: 1743040207.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13706*, header.stamp.nsec: 0*0 temperature: 13.567066** salinity: 33.375290*, density: 1025.000000** values[0]: 0.577460*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040207.743165 s.WJ~,m+AJ"J*J2J:JBJnJvJAףp= @A$P2@A[~? A4"AI}%"AA pNA"AZAbAjArAzAAAn9P0*@A NoKtAq@A>єA=A@{>ANb?A ?AT*A:?2ATԽ:A =BA:?JATԽRA =٘i)I9q@YEG J]JJJJ: F&K Y6Z~?y$JA F7b9OB)BE[[)<[EZ~?[[[[[BZYY i) y\Ii@5< O?))O?O?6̪Y5YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040207.763165 s, next control iter: 1743040208.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040208.163165 s.w}J~,q +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077422< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743040208.163287F (some fields omitted in printout)A@@A<2@A[~? AJ!Ak%"AAQpNA"AZAbAjArAzAAA{H)*@ALDJtAcyq@A;A=A ˇ>A@T?A`3?AE*A :?2AyԽ:A%=BA :?JAyԽRA%=Y >=>y=;ٓH? п '??n?Z?`zw?@p?) >= I٘i)I9yq@YG J昼J <JJJ< F&Kr> Yt[~?y3""JA> F7d9)ïBE[[T9=[>Z~?[[[[[BZYY i) ZkIi @n]< T?))2 sT?T?lЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040208.183165 s, next control iter: 1743040208.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040208.583165 s.J~,"S%+AJ"J*J2J:JBJnJvJA)\u@Ajh@A[~? A7 A%"AA qNA"AZAbAjArAzAAAs G+@Ag8JtAPp@AU<A*=A{>AGD?A?A!*A:?2AԽ:A=BA:?JAԽRA=٘i)I9p@YG JJJJJ= F&K Y[~?yIA Fb77^f9NB)ǯBùE[[=[g[~?[G[[[[BZYY i) {IiL@瞪< nY?))nY?nY?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040208.603165 s, next control iter: 1743040208.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13707, header.stamp.nsec: 00 temperature: 13.567149* salinity: 33.375320, density: 1025.000000* values[0]: 0.576992F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040209.003165 s.| J~,]4@+AAR@A=y@Ac\~? AA%"AA0qNA"AZAbAjArAzAAAh+@A5wItAcp@AZ\<A=A>A n3?A̾?A٩*A":?2AYӽ:A]b=BA":?JAYӽRA]b=٘i)I9cp@YNG JJJJJ> F&K Y7[~?yWIA F77{7)h9)˯BƹE[[z~=[)[~?[[[[[BZYY i) .Ii6@e< ^?)) ^?^?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040209.023165 s, next control iter: 1743040209.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040209.423165 s.uJ~,[+AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077422< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743040209.423317F (some fields omitted in printout)A{G@A >@A\~? AA%"AAWqNA"AZAbAjArAzAAA,@A2ƧHtAo@A3;A|=AE>A?AV7?Av*A_&:?2A*kӽ:AM=BA_&:?JA*kӽRAM=٘i)I9o@YG JlB=JJJJ@ F&K Y4S[~?yCHA F77i9MB)ϯBɹE[[:L=[.B[~?[[[[[BZYY i) Ii?< byc?))byc?byc?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040209.443165 s, next control iter: 1743040209.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13708, header.stamp.nsec: 00 temperature: 13.567271* salinity: 33.375332, density: 1025.000000* values[0]: 0.576398F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040209.843165 s.J~,u+AAp= @A<* @A8\~? AAJ%"AAl~qNA"AZAbAjArAzAAAo,-@AǐGtACo@A^Aeʞ=Aذ>A?A ?A˪*A":?2AH[Խ:AF=BA":?JAH[ԽRAF=٘i)I9Co@YG JC=JJJJA F&K Yqn[~?yHA FS7)7k9)ӯB[[U=[Z[~?["[[[[BZYY i$䱽) z@Ii?< zh?))zh?zh?\ڪYQYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040209.863165 s, next control iter: 1743040210.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040210.263165 s.$J~,ؐ+AJ"J*J2J:JBJnJvJAL@A'?@AR\~? APA %"AAqNA"AZAbAjArAzAAAĎ!-@AwFtAHn@A@Al=Ag>A?A@y?A*A?:?2A'ս:Az=BA?:?JA'սRAz=Y֬>>y =^AٓH "?`mֿ&? ?A??\@m?)֬> I٘i)I9n@YHG JJp!<JJJC F&Kr> Y͈[~?y HA> FZ7Z7m9)ׯB̹E[[r>[r[~?[![[[[BZYY i) Ii?.< lm?))jqlm?lm?ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040210.283165 s, next control iter: 1743040210.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 137092, header.stamp.nsec: 020 temperature: 13.5674542* salinity: 33.3753552, density: 1025.0000002* values[0]: 0.5758272F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040210.683165 s.l*J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.236219@ elevatorAngleAction: -0.086861< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743040210.683276F (some fields omitted in printout)A(\@A\ u@Ayk\~? ArA/%"AAqNA"AZAbAjArAzAAA=tN.@AD yEtAT%n@A@dAmǡ=Ad>A?A`)?Aȓ*A:?2Aս:A$=BA:?JAսRA$=٘i)I9%n@YG J*JJJJD F&K Y,[~?yGA F77To9LB)ۯBϹE[[h%>[J[~?[[[[[BZYY i) *Ii?]< ir?)) ir?ir?TުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040210.683165 s, next control iter: 1743040211.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743040211.103165 s.1J~,ƴ+AJ"J*J2J:JBJnJvJAQ@AoI@A\~? AiAU%"AAqNA"AZAbAjArAzAAA􌁑.@A{^A9?A@?A *A/.:?2A}ӽ:AQ=BA/.:?JA}ӽRAQ=٘i)I9m@YG JJJJJE F&K Y[~?yIGA Fb77q9IB)ܯBѹE[[Ň9>[ģ[~?[[[[[BZYY i) IiN?< qw?)) qw?qw?yӱYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040211.123165 s, next control iter: 1743040211.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040211.523165 s.7J~,|+AAHz@Ac @A̝\~? A9A~%"AA#rNA"AZAbAjArAzAAATp /@ABtAl@A{:A=Am>A@?A`^?AMη*Ae.:?2ADӽ:Az=BAe.:?JADӽRAz=٘i)I9l@Y=G J?JJJJG F&K Y[~?y` FA F77r9HB)BԹE[[M>[R[~?[*[[[[BZYY i) nIi?R< |?))|?|?^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040211.543165 s, next control iter: 1743040211.923183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13710, header.stamp.nsec: 00 temperature: 13.567600* salinity: 33.375362, density: 1025.000000* values[0]: 0.575241F (some fields omitted in printout)*[~?)*`  rAdjusting time to match Gazebo time: 1743040211.943165 s.[d>J~,O]+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086861< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743040211.943323F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #@Ak@A¶\~? AA%"AA>rNA"AZAbAjArAzAAAΩ 0@Ah͇xAtAu`l@A(<A=A,>Ar?A 6?A`ǿ*A&:?2As^ӽ:A8=BA&:?JAs^ӽRA8=٘i)I9`l@YG JVJJJJH F&K YD[~?y< rFA Fb77t9GB)B׹E[[}1b>[[~?[[[[[BZYY i) ɉIiH?< ΀?))΀?΀?Y!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040211.963165 s, next control iter: 1743040212.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040212.363165 s.EJ~,>+AAY@AL@A\~? AfA%"AAcrNA"AZAbAjArAzAAA'V0@A?tAk@ANh<A=A P>A M?Ak?Aż*A:?2A/ӽ:Ac=BA:?JA/ӽRAc=Y8w{>>y*=i<ٓH ?@CܿѴ???@g?u`)?`V?)8w{> I٘i)I9k@YyG J¼J;a<JJJI F&KSr> Y~ \~?yJEA> Fŧ7b7~v9)B[[mYv>[*[~?[ު[[[[BZYY i) iIiX?{w< S?))țqS?S?(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040212.403165 s, next control iter: 1743040212.763179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13711", header.stamp.nsec: 0"0 temperature: 13.567736"* salinity: 33.375378", density: 1025.000000"* values[0]: 0.574589"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040212.783165 s.UKJ~,2+AJ"J*J2J:JBJnJvJA(\@AjTQ@A3\~? A A %"AAHrNA"AZAbAjArAzAAAεӖ0@A$ЫW>tAk@A/<A=A>A&?A`?Arȼ*A:?2AeԽ:A=BA:?JAeԽRA=٘i)I9k@YG J:ǼJJJJK F&K Y$\~?yYEA Fj7j7Ix9FB)BڹE[[[W>[{\~?[ܪ[[[[BZYY i) /"ȼIi[\~?[ڪ[[[[BZYY i) inϼIi?;a< m?)) m?m?&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040213.223165 s, next control iter: 1743040213.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040213.623165 s.UYJ~,Tg+AJ"J*J2J:JBJnJvJAG@A>s@A]~? AAx%"AArrNA"AZAbAjArAzAAAX51@Ak:tAti@A4 A=Ae?A ?A@?Aɼ*AH1:?2A)ӽ:A=BAH1:?JA)ӽRA=٘i)I9i@YEG JɼJJJJM F&K Y(W\~?ywDA F{7{7{9EB)BE[[>[M6\~?[lت[[[[BZYY i) ּIi?\W< ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040213.643165 s, next control iter: 1743040214.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13712 , header.stamp.nsec: 0 0 temperature: 13.567931 * salinity: 33.375393 , density: 1025.000000 * values[0]: 0.573883 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040214.043165 s.`J~,Â+AA= ף0@Ac#@A1]~? AA~%"AArNA"AZAbAjArAzAAAv)V]~1@A:.8tA;i@AcA3=A ?A?A v?A@̼*A):?2AdԽ:Ad=BA):?JAdԽRAd=٘i)I9i@Y G JʼJJJJO F&K Yap\~?y1DA F7777}9DB)BE[[Q>[N\~?[ժ[[[[BZYY i) ޼Ii?7QO< m?))m?m?~Y"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040214.063165 s, next control iter: 1743040214.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040214.463165 s.VgJ~,褝+AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086861< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743040214.463296F (some fields omitted in printout)Afffff@A%c\Y@AH]~? AA@%"AAysNA"AZAbAjArAzAAAl1@A;6tAkh@AiEAzM=A?Ar?A`N?AsѼ*A!:?2A"Խ:A.}=BA!:?JA"ԽRA.}=Yƪ>m?yJ=FٓH@?#@?` ? >?`9? ?)ƪ> I٘i)I9kh@Yt G J@μJTF<JJJP F&Kr> Y7\~?yCAm? F{7{7t9)B[[>[f\~?[gӪ[[[[BZYY i) /Ii?B< .?))i r.?.?bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040214.483165 s, next control iter: 1743040214.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13713, header.stamp.nsec: 00 temperature: 13.568134* salinity: 33.375389, density: 1025.000000* values[0]: 0.573199F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040214.883165 s.ymJ~,@+AA(@Aƅ!@A`]~? AGA1%"AA@sNA"AZAbAjArAzAAA2@AGsZ4tA=g@A~Ad-=A?A??A`%?A ټ*AR:?2AԽ:A=BAR:?JAԽRA=ޕI٘i)I9g@Y G JԼJJJJQ F&K Y \~?y=CA F77?9@B)BE[[7>[~\~?[Ъ[[[[ZZ¸BZYY i¸:=) / ټIi?) 7< Œ?))]=Œ?Œ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040214.903165 s, next control iter: 1743040215.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040215.303165 s.XtJ~,gӵ+AJ"J*J2J:JBJnJvJA@Ab@Ax]~? AAdu%"AA;dsNA"AZAbAjArAzAAAl>U2@AGcD2tAf@A;A=AJ?A ?A?AT*A3:?2Aҽ:A\Z =BA3:?JAҽRA\Z =٘i)I9f@Y G JܼJJJJS F&K Y߷\~?ykBA Fb77 9?B)BE[[/k>[і\~?[ͪ[[[[ZZBZYY i) 1ͼIi͆?N,< b?)) b?b?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040215.323165 s, next control iter: 1743040215.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13714*, header.stamp.nsec: 0*0 temperature: 13.568357** salinity: 33.375412*, density: 1025.000000** values[0]: 0.572424*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040215.723165 s.{J~,H+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083014< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743040215.723284F (some fields omitted in printout)Az@Aޮ@A6]~? AA%"AAsNA"AZAbAjArAzAAA2@A.{0tA-f@AW<AX=A'^?A?A`U?A*A3D:?2Aҽ:AF=BA3D:?JAҽRAF=٘i)I9-f@Y G JB=JJJJT F&K Y\~?yHBA F77{7Ԅ9)B[[>[ܮ\~?[ʪ[[[[ZZBZYY i) lIi~? &#< ,?)),?,?,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040215.743165 s, next control iter: 1743040216.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040216.143165 s.Y/J~,* +AJ"J*J2J:JBJnJvJA ףp=@A>e0@A.]~? A=A%"AAsNA"AZAbAjArAzAAArڒ2@A)y&.tAEFe@AT<AЛ=At$?A#?Aట?A.*AN:?2A{ӽ:AnL<BAN:?JA{ӽRAnL<٘i)I9Fe@Y G J C=JJJJU F&K Y\~?yުAA Fb779>B)BE[[w>[\~?[^Ǫ[[[[ZZBZYY i) UIiq?< ˫?))˫?˫?yd=תYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040216.163165 s, next control iter: 1743040216.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040216.563165 s.J~, $+AA3333s@A,f@A]~? AHAP%"AABsNA"AZAbAjArAzAAA"v&3@A6Ë+tAgd@A;AhMz=AƼ)?A@#b?A`n?AzJ*A2T:?2APԽ:A@q<BA2T:?JAPԽRA@q)?yZLz=xC;ٓH*?3~r?!?:8??`D'}w? ?)Vv> I٘i)I9gd@Y G JwB=JJJJW F&Kq> Y\~?yتyAA)? F{7{7i99B)BE[[O>[g\~?[ê[[[[ZZBZYY i) 娩Iid^?T< L?)) zsL?L?IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040216.603165 s, next control iter: 1743040216.963189 s, wait time: 0.360024 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13715, header.stamp.nsec: 00 temperature: 13.568646* salinity: 33.375431, density: 1025.000000* values[0]: 0.571495F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040216.983165 s.J~,>+AJ"J*J2J:JM?BJM?nJh5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237770> elevatorAngleAction: 0.083014< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743040216.983339F (some fields omitted in printout)A\@AWZF@A^]~? A/A%"AAsNA"AZAbAjArAzAAA!aj3@AHJ<)tA5c@A%{A_5=A/?A&?A`>?AӼ*AU:?2A-Խ:A;BAU:?JA-ԽRA;٘i)I9c@Y G JC=JJJJX F&K Y]~?y)Ӫ%AA F777498B)BE[[ϭ>[\~?[d[[[[ZZBZYY i) .^IiL?< a?))a?a?1~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040217.023165 s, next control iter: 1743040217.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040217.403165 s.&J~,Y+AAQ@Aa@A]~? AAY%"AAetNA"AZAbAjArAzAAA3@AV;s&tA#b@AXA<AG*4?A?A?ABS*Ar:?2ACӽ:A^&BAr:?JACӽRA^&٘i)I9b@Y& G JYüJJJJY F&K YV*]~?yͪ@A F{7{795B)BE[[_>[j ]~?[[[[[ZZBZYY i) Iin]3@A4#tA}b@A#uA'<A$9?A?A7?A*Auq:?2A,nӽ:Ag*#BAuq:?JA,nӽRAg*#٘i)I9}b@Y G JB=JJJJ[ F&K Y@]~?yOȪ}@A F777ɍ94B) BE[[?[$]~?[[[[[ZZBZYY i) ~ʇIi.?; Q?))Q?Q?/}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040217.863165 s, next control iter: 1743040218.223179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040218.243165 s.J~,i+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083014< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743040218.243283F (some fields omitted in printout)Aףp=J@Ap]1=@A'^~? A ݫA%"AAStNA"AZAbAjArAzAAAN-24@A87!tAWb@AA䛴A8>?Ag?Aͤ?A7*AZf:?2ALԽ:AfBAZf:?JALԽRAf٘i)I9b@Y G JcC=JJJJ\ F&K YV]~?yª)@A F77j793B)"BE[[q?[<]~?[[[[[ZZBZYY i) eyIi!?; &?))&?&?Z(YnYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040218.283165 s, next control iter: 1743040218.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743040218.663165 s.J~,q+AJ"J*J2J:J?BJ?nJ5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13717, header.stamp.nsec: 00 temperature: 13.569024* salinity: 33.375465, density: 1025.000000* values[0]: 0.570098F (some fields omitted in printout)A@ASr@A*^~? AgثAb%"AAttNA"AZAbAjArAzAAA!r4@A8|atAa@AA:AAkC?A"?Ai?As*A$X:?2AԽ:AwWBA$X:?JAԽRAwWYQ ?ajC?y J:ٓH?ڋ`S??`@v? YTk]~?yȼE@AjC? F7{7_9)$B[[` ?[R]~?[Q[[[[ZZBZYY iao=) fIiQ?n*; e?))que?e?G)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040218.683165 s, next control iter: 1743040219.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040219.083165 s.DJ~, SŶ+AA)\µ@A]¡@A?^~? AӫAEP%"AAtNA"AZAbAjArAzAAA&l4@AvtARa@AL7.<AAH?A?A@-?A'*AH:?2Alս:AѼBAH:?JAlսRAѼ٘i)I9a@Ya G JJJJJ_ F&K Y]~?y`@A F7)92B)E[[u?[i]~?[㫪[[[[BZYY iV=) \TIi>ӟ; n?))!*n?n?4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040219.123165 s, next control iter: 1743040219.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040219.503165 s.J~,Y4+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260087> elevatorAngleAction: 0.069283< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743040219.503285F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@AEJy@ART^~? AΫAӮ%"AAjtNA"AZAbAjArAzAAA1Ƿx4@AvtAa@A}h<A5AM?Aԏ?Ac?A(;*AD]:?2AԽ:AԛBAD]:?JAԽRAԛ缙٘i)I9a@Y` G JJJJJ` F&K Y;]~?y|@A F77{791B)E[[E?[5]~?[E[[[[BZYY i) BIih>Nj; *?)) *?*?s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040219.523165 s, next control iter: 1743040219.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13718, header.stamp.nsec: 00 temperature: 13.569014* salinity: 33.375450, density: 1025.000000* values[0]: 0.569951F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040219.923165 s.6J~,+AA{G!@A$;@Ah^~? AɫA%"AAtNA"AZAbAjArAzAAA&9[p/5@A|`btARa@Ai&<AZAR?AAG?A?AL;*AwW:?2Ar6Խ:ABAwW:?JAr6ԽRA٘i)I9a@Ys G Jr;JJJJa F&K Y]~?yz@A Fb779.B) BE[[?[]~?[x[[[[BZYY i) ~0Ii>t; v?))v?v?y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040219.943165 s, next control iter: 1743040220.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040220.343165 s.OeU; L?))L?L?*YYFFF]\:Waiting for Gazebo time sync: latest Gz time: 1743040220.363165 s, next control iter: 1743040220.743178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13719&, header.stamp.nsec: 0&0 temperature: 13.568850&* salinity: 33.375507&, density: 1025.000000&* values[0]: 0.570150&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040220.763165 s.9J~,'0+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069283< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743040220.763298F (some fields omitted in printout)Ǎ@A$@A^~? A7AM%"AAuNA"AZAbAjArAzAAAFW5@AHdtA]hb@ANA㈽AU\?A@?A@)?Aκj<*AfJ:?2AԽ:ABAfJ:?JAԽRAYD$?\?y%∽,xٓH @? oMT멿0C??@bӦ?c`W?)D$? I٘i)I9hb@Y G JK<B=JFJJOFJd F&K)s> Y]~?yAA\? Fb7b7T9)B[['?[]~?[i[[[[BZYY isf=) Ii>%; [p?))x[p?[p?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040220.783165 s, next control iter: 1743040221.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040221.183165 s.J~,NK+AJ"J*J2J:JBJnJvJA(\@A^@A^~? AйAA%"AA`.uNA"AZAbAjArAzAAA{B5@AAEJD tAb@ATDoAAa?A^?A?A<*AE:?2AԽ:ABAE:?JAԽRA٘i)I9b@Y G J;<C=JJJJe F&K Y]~?ykAA F779,B)BE[[W-?[]~?['[[[[BZYY i) Ii?>o: 3?)) 3?3?J*YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743040221.203165 s, next control iter: 1743040221.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040221.603165 s.74J~,f+AAQ@AfF@A!^~? AHA0%"AAKuNA"AZAbAjArAzAAAf6@A -sUtA>Qc@A\FAחAg?A ?AA?A)<*A^:?2A[ӽ:AbxBA^:?JA[ӽRAbx٘i)I9Qc@YY G J <JJJJg F&K Y;]~?yKAA Fj7j7靼9+B)BE[[22?[=]~?[[[[[BZYY i) +߻Ii> : ?))??E*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040221.623165 s, next control iter: 1743040222.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13720 , header.stamp.nsec: 0 0 temperature: 13.568584 * salinity: 33.375515 , density: 1025.000000 * values[0]: 0.570646 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040222.023165 s.J "J *J 2J :J ?BJ ?nJ .5vJ ZJ~,|+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056263< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743040222.023285F (some fields omitted in printout)AHz.@A!@A^~? AA4%"AA?huNA"AZAbAjArAzAAAU6@AtA,c@AhVAQzAUl?A K?AF?Aq<*Ab:?2AԽ:ADBAb:?JAԽRAD٘i)I9c@Y G J<JJJJh F&K Y^~?y#BA F{79(B) BE[[8?[E^~?[[[[[BZYY i) IiJ=K: h?))h?h?yf=V*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040222.043165 s, next control iter: 1743040222.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040222.443165 s.GJ~,]+AAq= c@ABV@A2^~? AਫA}%"AA]uNA"AZAbAjArAzAAAV `v6@A;:|^tA hd@A;AךAoq?A@0a?A?A<*Ae:?2Aս:A߽ BAe:?JAսRA߽ ٘i)I9hd@Y G J<JJJJi F&K Y^~?y肪~BA Fŧ7b79'B)BE[[/>?[^~?[@[[[[BZYY iYh=) ~Ii =i9 Ÿ?))Ÿ?Ÿ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040222.463165 s, next control iter: 1743040222.843181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13721, header.stamp.nsec: 00 temperature: 13.568214* salinity: 33.375511, density: 1025.000000* values[0]: 0.571349F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040222.863165 s.+J~,>+AJ"J*J2J:JBJnJvJA@A@A+^~? AA%"AAuNA"AZAbAjArAzAAA/,<6@Ax6sAId@Ad<AYAw?A?A`@?AJ<*A#h:?2At&ֽ:ABA#h:?JAt&ֽRAY>?Bv?y=d<ٓH2?SM26?8?@*ɱ`7,?\?2?)>? I٘i)I9d@YZ G J<JwJJJk F&Ku> Y)^~?y{BAv? F777J9)B[[C?[*+^~?[\|[[[[BZYY i) NI\I?im _?))ٿ{_?_?K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040222.883165 s, next control iter: 1743040223.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040223.283165 s.:RJ~,ҷ+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245849> elevatorAngleAction: 0.065629< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743040223.283301F (some fields omitted in printout)A(\@AT@A^~? AAm%"AAuNA"AZAbAjArAzAAAC6@A|{ sAe@A Z<AvA<|?A4]?A?Abg<*AMf:?2Aoeֽ:A9BAMf:?JAoeֽRA9٘i)I9e@Y G J<JJJJl F&K Y,9^~?yqtMCA F9%B)B E[[lI?[?^~?[Fv[[[[BZYY i) @JII?iʽQ ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040223.303165 s, next control iter: 1743040223.683180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13722., header.stamp.nsec: 0.0 temperature: 13.567898.* salinity: 33.375515., density: 1025.000000.* values[0]: 0.572077.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040223.703165 s.ֺJ~,+AJ"J*J2J:JBJnJvJAQ@Aj.7@A_~? A閫A%"AACuNA"AZAbAjArAzAAAT^-7@A^7PgsAkf@A';ABA?A n?A?A,<*AZz:?2AԽ:ApBAZz:?JAԽRAp٘i)I9f@Y G J<JJJJn F&K YFI^~?y6mCA Fb7b7ߦ9"B)B E[[O?[R^~?[p[[[[BZYY i)  I I?iɺ ?))??S*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040223.723165 s, next control iter: 1743040224.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040224.123165 s.SJ~,+AAG:@A-@A!_~? AA[%"AA uNA"AZAbAjArAzAAApH`7@A` sAʡf@AqA7ϒA?A`?A`1?Aש<*A)x:?2Aս:A 'BA)x:?JAսRA '٘i)I9f@Y] G J<JJJJo F&K Y_Y^~?yeDA F79!B)B E[[zT?[e^~?[i[[[[BZYY i) I I?iNa ?))??yb=5*Y='YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040224.143165 s, next control iter: 1743040224.523205 s, wait time: 0.380040 s rAdjusting time to match Gazebo time: 1743040224.543165 s.IJ~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: 0.065629< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743040224.543293F (some fields omitted in printout)A= ףp@A xc@A"2_~? AfA%"AA=vNA"AZAbAjArAzAAA@u 7@Ai$sA40g@A&%RAAL?AI6?A{?A<*Au:?2A(Eս:A>2BAu:?JA(EսRA>2٘i)I90g@Y G J<JJJJp F&K Yzi^~?y^DA FS77t9)B[[Z?[x^~?[b[[[[BZYY i) qII?iXx2 3?))3?3?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040224.563165 s, next control iter: 1743040224.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13723, header.stamp.nsec: 00 temperature: 13.567528* salinity: 33.375542, density: 1025.000000* values[0]: 0.572815F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040224.963165 s.J~,=+AAffff@AJ[\@A B_~? AAQ%"AA vNA"AZAbAjArAzAAAp=|7@AsAg@A\fAGA@.?A@Jw?A?AL<*A&s:?2A6ս:ABA&s:?JA6սRAYX? N?y!D 6gٓH`?`<@[k`??]? Ԍ?)X? I٘i)I9g@Y G J <Ji<JJJr F&K4v> Y*w^~?y WDAN? Fb7b7?9 B)BE[[O`?[-^~?[?\[[[[BZYY i) !:II?i=J fC?))P~fC?fC?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040225.003165 s, next control iter: 1743040225.363181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743040225.383165 s.J~,'X+AJ"J*J2J:JBJnJvJA(@A_|@AQ_~? A}}A%"AA8vNA"AZAbAjArAzAAAc7@A ztsACh@AqA_ALڊ?A?Ai?A<*Ap:?2AQֽ:ABAp:?JAQֽRA٘i)I9Ch@Y\ G J/<JJJJs F&K Yڄ^~?yXO@EA Fj7Z7 9B)گBE[[f?["^~?[^U[[[[BZYY i) P:IqH?iQq ?)) ??ܼ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040225.403165 s, next control iter: 1743040225.783175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13724&, header.stamp.nsec: 0&0 temperature: 13.567184&* salinity: 33.375511&, density: 1025.000000&* values[0]: 0.573539&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040225.803165 s.tAJ~,ogs+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065629< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743040225.803257F (some fields omitted in printout)A@A@A`_~? AvAO%"AAPvNA"AZAbAjArAzAAAm8@AĪBsAZh@A"!;AA?A@?A@X?A<*A~:?2Aս:AzBA~:?JAսRAz٘i)I9h@Y G J<JJJJt F&K Y^~?yGEA FZ7ԯ9B)կBE[[zk?[^~?[PN[[[[BZYY i) #;IH?i־ɘ ?))??c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040225.823165 s, next control iter: 1743040226.203177 s, wait time: 0.380012 s^~?)G rAdjusting time to match Gazebo time: 1743040226.223165 s.g#J~,H+AJ"J*J2J:J?BJ?nJ 5vJAzG@A3:@Ao_~? A/pA%"AAfvNA"AZAbAjArAzAAA Ms'L8@AoYsA=i@A1l=<A,GA(?A`?A ?Ae<*AA|:?2A::ֽ:A/BAA|:?JA::ֽRA/񼙘٘i)I9=i@Y G Jn<JJJJv F&K Y:^~?y?EA F7779)ѯB[[Wq?[^~?[G[[[[BZYY i) a;IGH?i ??))????*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040226.243165 s, next control iter: 1743040226.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040226.643165 s.})J~,$*+AA ףp}@A%ep@A}_~? AeiA*U%"AA|vNA"AZAbAjArAzAAAOlUdw8@AǬsAi@An<AYAŒ?AmQ?A ?A +<*Ax:?2A%~ֽ:ABAx:?JA%~ֽRA9٘i)I9i@Y;G J#<JJJJw F&K Y^~?y<8\FA Fb7b7j9)ͯB[[w?[^~?[?[[[[BZYY i0a=) a;IcH?i& ?))??8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040226.663165 s, next control iter: 1743040227.043184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13725, header.stamp.nsec: 00 temperature: 13.566851* salinity: 33.375549, density: 1025.000000* values[0]: 0.574199F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040227.063165 s.0J~,V ĸ+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074404< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743040227.063288F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@A[x^*@A_~? AbA%"AAvNA"AZAbAjArAzAAAhH8@A[ksA#j@A"<A,AU?A8?A?A<*At:?2AJֽ:As BAt:?JAJֽRAs Yhr?@?y++"<ٓH &?@k eZ?@)?f-v?@R??)hr? I٘i)I9#j@YG J<JA-<JJJx F&Kv> Y ^~?y#0FA@? F7759B)ȯBE[[3m}?[^~?[A8[[[[BZYY i) ;IH?i'} n?)).an?n?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040227.103165 s, next control iter: 1743040227.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040227.483165 s.w_7J~,޸+AA\@A͍@A_~? A[Aa%"AAvNA"AZAbAjArAzAAA[8@A8,sA1j@A&k8AAݗ?A@?A \?A<*Al:?2Anֽ:AmBAl:?JAnֽRAm٘i)I9j@YG J@<JJJJz F&K Y+^~?y (GA Fj7Z79B)¯BE[[?[Z^~?[0[[[[BZYY i) =;I!H?i7ʻ H?)) H?H?ų*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743040227.503165 s, next control iter: 1743040227.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13726, header.stamp.nsec: 00 temperature: 13.566581* salinity: 33.375565, density: 1025.000000* values[0]: 0.574790F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040227.903165 s.=J~,+AJ"J*J2J:JBJnJvJAQ@A@A_~? ATA<%"AAvNA"AZAbAjArAzAAA r8@AJ%csAk@A!AA]?A?A%?A<*Aq:?2A΍ս:ABAq:?JA΍սRA٘i)I9k@Y G Jd<JJJJ{ F&K YL^~?yfGA F{7j7ʸ9)B[["?[^~?[([[[[BZYY i) ;IH?iT* ڻ *?))*?*?yL=x*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743040227.923165 s, next control iter: 1743040228.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040228.323165 s.wDJ~,)+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074404< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743040228.323283F (some fields omitted in printout)AGzT@AKqG@AZ_~? AcMAzt%"AAvNA"AZAbAjArAzAAA㺰9@A*<]sA|k@APEnA|Aq?A` ?A`?AN<*Aj:?2Agս:AbBAj:?JAgսRAb٘i)I9|k@YRG Jk<B=JJJJ| F&K Yn^~?yGA F779B)BE[[?[;_~?[ [[[[BZYY i) MuAy A?Aq2?A?A<*Aqb:?2A8*ֽ:A rBAqb:?JA8*ֽRA r٘i)I9k@YG J<C=JJJJ~ F&K Y^~?yHA F77{7_9B)BE[[i?[c_~?[[[[[BZYY i) VAj%"AA>vNA"AZAbAjArAzAAAr]9@AzQlsAdl@A+A|A8?A@T?A>?A}<*AZ:?2AVֽ:A(BAZ:?JAVֽRA(Y2?i>?y][U,ٓH?൉`x?`?`?`a~e?)2? I٘i)I9dl@YG J<JJJJ F&Ktw> Y^~?yWtHA>? Fj7Z7*9)B[[?[)_~?[[[[[BZYY i) q% elevatorAngleAction: 0.074404< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743040229.583276F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\@A@A_~? A7A%"AA\wNA"AZAbAjArAzAAA>ᔎt9@A#."6sA~l@A@w;AĊA?As?A`Gr?A<*AS:?2A1׽:AJ`BAS:?JA1׽RAJ`٘i)I9l@Y%G J<JJJJ F&K Yl^~?yHA Fŧ7779B)BE[[?[6_~?[k[[[[BZYY i) 15XIe ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040229.603165 s, next control iter: 1743040229.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13728, header.stamp.nsec: 00 temperature: 13.565999* salinity: 33.375565, density: 1025.000000* values[0]: 0.575981F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040230.003165 s.w `J~,H4+AAR+@Ax@Ar_~? A+0A%"AAwNA"AZAbAjArAzAAA*+m9@A-H5sAGm@AUe<A>*Aw?A?A ?A<*AL:?2Asl׽:A{BAL:?JAsl׽RA{٘i)I9Gm@YjG J<JJJJ F&K Y^~?y+IA! F7ŧ79)B[[?[,C_~?[[[[[BZYY i) мD elevatorAngleAction: 0.083535< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743040230.843305F (some fields omitted in printout)Ap= @At@A_~? A(!A%"AAG2wNA"AZAbAjArAzAAA]hP9@AkůsA34n@Abm;Aw+A^?A!?A ?A8 <*A?:?2A>׽:AVBA?:?JA>׽RAVݕI٘i)I94n@YG J<JJJJ F&K Y_~?yIA$ F777Uż9)B[[|?[2Z_~?[[[[[BZYY i) zc Ya_~?yݩGJAN?% F77j7Ǽ9 B)BE[[?[d_~?[[[[[BZYY i) w s elevatorAngleAction: 0.083535< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743040232.103272F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8@At{I+@A `~? A9 A%"AA}ZwNA"AZAbAjArAzAAA(:@A^LsA o@A~dA~Ag?A.?Ar?AT<*A":?2A;ֽ:AdBA":?JA;ֽRAd٘i)I9o@YG J<JJJJ F&K Y _~?y˩KA( F{7j7ʼ9 B)BE[[?[w_~?[8ԩ[[[[BZYY i) KW+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083535< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743040233.363316F (some fields omitted in printout)A@A@A!`~? AAT%"AA{wNA"AZAbAjArAzAAA%h:@AvBsAodq@AA<AXAi?A`?Az?Ac<*A :?2AC׽:ABA :?JAC׽RAY(V?tb?y$UGB<ٓH;? p?`? "?e?5? c?)(V? I٘i)I9dq@YG J<JJJJ F&Ky> Y._~?yӱDLAb?, F{7{7м9)~B[["?[_~?[͸[[[[BZYY i) N^ elevatorAngleAction: 0.083535< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743040234.623288F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@AJVm@Aa2`~? A"۪A"%"AAwNA"AZAbAjArAzAAAJ8Ӛ:@AF#ȃsAc's@A%-A꫽A2?A?A?ALZ<*A69?2Aֽ:ABA69?JAֽRA٘i)I9's@YG J<JJJJ F&K Y7_~?yMA0 F7{7uռ9)lB[[D?[_~?[[[[[BZYY i) ` Y9_~?ypNAm?3 F)7b7 ټ9)_B[[ ?[_~?[[[[[BZYY i) E elevatorAngleAction: 0.083535< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743040235.883296F (some fields omitted in printout)A(@AW@A->`~? A)êA&"AA,wNA"AZAbAjArAzAAAjƕ:@A\&usA&u@At6A(A?A)?A:S?Ay<*A;9?2AQֽ:ABA;9?JAQֽRA٘i)I9&u@Y4G J<JJJJ F&K Y9_~?y5}NA4 F{7j7ڼ9)ZB[[v?[Ы_~?[[[[[BZYY i) Z9?2As׽:ABA>9?JAs׽RA٘i)I9v@YG J<JJJJ F&K Y9_~?ykOA7 Fb77j޼9B)MBE[[[?[Z_~?[l[[[[BZYY ii=)  elevatorAngleAction: 0.092487< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743040237.143272F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@AWe@A5E`~? AA&"AA#wNA"AZAbAjArAzAAAf:@AYxifsA-w@ASg<AA?A ?Ar?Aĭ<*A9?2A^׽:AoVBA9?JA^׽RAoV٘i)I9-w@YpG J<JJJJ F&K Y9_~?ybGPA8 F77759)HB[[ ?[_~?[c[[[[BZYY i) vHA?Aǜ?A`w?A9q<*Ao9?2AQ׽:APBAo9?JAQ׽RAP٘i)I9w@YG J<JJJJ F&K Ym9_~?yZPA9 F77{79)BB[[3?[ׯ_~?[hY[[[[BZYY i) Ɉ*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743040237.583165 s, next control iter: 1743040237.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13736, header.stamp.nsec: 00 temperature: 13.563544* salinity: 33.375587, density: 1025.000000* values[0]: 0.581680F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040237.983165 s.J~,~+AJ"J*J2J:JBJnJvJA\(@A}@A;G`~? AߚA3&"AAwNA"AZAbAjArAzAAAT:@Ar0\sAx@A̎;AA ?A=?Az?A!<*A#9?2A\ֽ:ABA#9?JA\ֽRA٘i)I9x@YCG Jx<JJJJ F&K YX9_~?y;Q2QA; Fj7Z79)=B[[*Z?[_~?[O[[[[ZZZZ¸>BZYY i¸>.e) 7 YP3_~?y7.RAv?@ Fb7b79B) BE[[?[ɣ_~?[M)[[[[ZZZZBZYY i) fJJJ F&Kbx> Y_~?yNTA?G FZ7Z79) B[[?[΄_~?[[[[[ZZZZBZYY in) ~n+AJ"J*J2J:JBJnJvJA@A( @A`~? A+Ar &"AAb{wNA"AZAbAjArAzAAAGr}R:@A歉NsA}@A<A=A8i?AٲȿA@?A#ei*A9?2A)ֽ:Aê=BA9?JA)ֽRAê=Yxq?}?y=/<ٓHnٿ \I?&sٿ`9?[??)xq? I٘i)I9}@YjG JJJK=JJJ F&KRw> Y^~?y٨PSA}?M F7{79B)B E[[k?[2S_~?[˨[[[[BZYY i.Ne) t`F?i0e s/@))s/@s/@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040244.303165 s, next control iter: 1743040244.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13743., header.stamp.nsec: 0.0 temperature: 13.383451.* salinity: 33.391594., density: 1025.000000.* values[0]: 0.710517.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040244.703165 s.պJJ~, -+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: 0.4199712 time: 1743040244.703270F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A{F"x@A `~? AA &"AAewNA"AZAbAjArAzAAA8&:@AsA|@AN<A?=AK@A Y̿A@a?AP✼*A9?2AfHֽ:A=BA9?JAfHֽRA=٘i)I9|@YG J B=JJJJ F&K  9Yx^~? 9ykɨRAP F)7ŧ7v9B)BE[[%^@[T:_~?[[[[[BZYY i) pt;IX+F?i e 1@))1@1@GϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040244.723165 s, next control iter: 1743040245.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040245.123165 s.8QJ~,aG+AAG@A"0֭@A`~? AAwX&"AA"ZwNA"AZAbAjArAzAAAv :@ARy) sAE|@A;r;A.f=AH@A`/οA`;?A\*A9?2ASֽ:Av =BA9?JASֽRAv =٘i)I9E|@YG JC=JJJJ F&K Y;^~?yY?RAQ F7777@9)!B[[@[,_~?[3[[[[BZYY i) Y;IKF?i]dc 2@))2@2@yɔe!ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040245.143165 s, next control iter: 1743040245.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040245.543165 s.IXJ~,b+AJ"J*J2J:JBJnJvJA= ף@A|ԗ@A+_~? AB A&"AAMwNA"AZAbAjArAzAAA/g_9@A8j'6sA{@AA֙=Aa@A6пA@2?ASW*A9?2A ׽:A?=BA9?JA ׽RA?=٘i)I9{@Y5G JJJJJ F&K Y^~?yEQAS Fb7b7 9)&B[[r@[_~?[[[[[BZYY i%ͅ) 5;IF?i_ 6%4@))6%4@6%4@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040245.563165 s, next control iter: 1743040245.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13744, header.stamp.nsec: 00 temperature: 13.383699* salinity: 33.391617, density: 1025.000000* values[0]: 0.709437F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040245.963165 s.^J~,}+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065333< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200812 time: 1743040245.963346F (some fields omitted in printout)Affff&@Aظ]@A_~? AAF&"AA@wNA"AZAbAjArAzAAA>b9@AϴsA*{@Ae-hA=AU@APпA O?Aۨ*A9?2AC=׽:A/=BA9?JAC=׽RA/=Y`|?UD@yɚ=hٓHx=߿`@@?b߿A?lq?)`|? I٘i)I9*{@YG JB=J<JJJ F&KXx> Y'^~?y~QAD@T F779B),BE[[:@[_~?[[[[[BZYY i) ;IE?iX]q` r5@))r5@r5@8ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040246.003165 s, next control iter: 1743040246.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040246.383165 s.eJ~,'+AJ"J*J2J:JBJnJvJA(\@AO@At_~? A/A&"AA1wNA"AZAbAjArAzAAA#6v/9@AqNrArz@AbA=A@A@ѿA`?Ao*A9?2A ׽:Af=BA9?JA ׽RAf=٘i)I9z@YG J'C=JJJJ F&K YV^~?yꩨQAV F779)0BE[[Ѩ@[_~?[[[[[BZYY i) .g;IE?i𮿉G_ @7@))@7@@7@tϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040246.423165 s, next control iter: 1743040246.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13745", header.stamp.nsec: 0"0 temperature: 13.383962"* salinity: 33.391636", density: 1025.000000"* values[0]: 0.708243"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040246.803165 s.yAlJ~,g+AA@Ar߄@AZ_~? AA&"AA#wNA"AZAbAjArAzAAAJ9@ArAz@A0˻AB=A@A ׮ҿA ?AЭ*A9?2Aֽ:AB=BA9?JAֽRAB=ܕI٘i)I9z@Y3G J6JJJJ F&K Y^~?y=PAW F7k 9B)7BE[[;@[j^~?[d[[[[BZYY i)  +;I2E?iz ^ Z8@))Z8@Z8@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040246.823165 s, next control iter: 1743040247.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040247.223165 s.gsJ~,Hν+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065333< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743040247.223286F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@A@A_~? A[Ar8&"AAkwNA"AZAbAjArAzAAA83{9@AwfaArAăy@A%/;A4=A' @A`ӿAZ?A#*A9?2A|ֽ:A=BA9?JA|ֽRA=٘i)I9y@YG J JJJJ F&K Y^~?yJPAX F75 9);B[[r @[^~?[C[[[[BZYY i) &3:IкE?inZ N`:@))N`:@N`:@y4ŅTɪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743040247.243165 s, next control iter: 1743040247.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040247.643165 s.zyJ~,*+AA ףp@Af@A_~? A A&"AAwNA"AZAbAjArAzAAAdZ9@AgrANx@AH;U<AXr=Ak @AJgԿA@'?An*A=9?2ANֽ:A*=BA=9?JANֽRA*=٘i)I9x@YG J_JJJJ F&K Ys^~?y⒨OAZ F7 9)?B[[\ @[j^~?[J[[[[BZYY i) QH:IϨE?iiIV j;@))j;@j;@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040247.663165 s, next control iter: 1743040248.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13746, header.stamp.nsec: 00 temperature: 13.384229* salinity: 33.391663, density: 1025.000000* values[0]: 0.707096F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040248.063165 s.J~,V +AJ"J*J2J:JBJnJvJA33333@A\n0&@A/_~? AߩA Yc^~?yOA @[ F77j79 B)FBE[[ @[t^~?[nw[[[[BZYY i) o:IӖE?i+SU }=@))}=@}=@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040248.083165 s, next control iter: 1743040248.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040248.483165 s.v_J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065333< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743040248.483321F (some fields omitted in printout)A\h@Ah$[@A/_~? AةA &"AA,vNA"AZAbAjArAzAAAc. 9@ACrA-w@A<A2։=AI @AֿA?Aq˛*A9?2Ahֽ:A<BA9?JAhֽRA<٘i)I9w@YG JcC=JJJJ F&K Y[S^~?y{'OA\ FS779)JB[[@~@[^~?[o[[[[BZYY i) IE?i᥿KST - ?@))- ?@- ?@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040248.503165 s, next control iter: 1743040248.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13747, header.stamp.nsec: 00 temperature: 13.384491* salinity: 33.391647, density: 1025.000000* values[0]: 0.705947F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040248.903165 s.ȍJ~,9+AJ"J*J2J:JBJnJvJAQ@A鷯@A_~? AѩA`n&"AAvNA"AZAbAjArAzAAAUp58@AfrAdw@AAg=Af@A ֿA{~?Aƒ*AZ9?2AJ ׽:AM<BAZ9?JAJ ׽RAM<٘i)I9dw@YG JϗB=JJJJ F&K YC^~?yG}NA^ Fŧ7b7`9 B)PBE[[E@[Ζ^~?[+h[[[[BZYY i) vIjsE?iTQ ˙@@))˙@@˙@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040248.923165 s, next control iter: 1743040249.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040249.323165 s.wJ~,)T+AAGz@Auo@A×_~? AʩA(&"AAivNA"AZAbAjArAzAAA˞8@A)" brAcv@A>A=A@AH׿AA?AR*A9?2AH׽:A<BA9?JAH׽RA<٘i)I9v@YIG J)C=JJJJ F&K Y2^~?yvjNA_ F77+9)TB[[Ϝ@[/^~?[`[[[[BZYY i) FDI2bE?i([M [(B@))[(B@[(B@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040249.343165 s, next control iter: 1743040249.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13748*, header.stamp.nsec: 0*0 temperature: 13.384725** salinity: 33.391647*, density: 1025.000000** values[0]: 0.704891*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040249.743165 s.WJ~,o+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065333< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743040249.743314F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= @A^2@A[_~? AéAT&"AAxvNA"AZAbAjArAzAAAZO8@Ah2~'rAyv@A1tA6=A@AಠؿA`?A없*A9?2AG׽:A><BA9?JAG׽RA><٘i)I9yv@YG JJJJJ F&K Y"^~?yn NA` Fb79B)ZBE[[)@[o^~?[Y[[[[BZYY i) LIsQE?iXG C@))C@C@6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040249.763165 s, next control iter: 1743040250.143180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040250.163165 s.y}J~,q+AA@@A1~2@A~|_~? AA&"AA֑vNA"AZAbAjArAzAAA@/Is8@AhrrA v@Ay*AU=AX@AoٿA`?A*A>9?2A ׽:A<BA>9?JA ׽RA Y ^~?y9hMAM@b F)7ŧ79)]B[[@[UZ^~?[R[[[[BZYY i# ) [[[[BZYY i) xIE?i9 ~8H))}8H8I@yMꜽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040251.443165 s, next control iter: 1743040251.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13750, header.stamp.nsec: 00 temperature: 13.385181* salinity: 33.391697, density: 1025.000000* values[0]: 0.702993F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040251.843165 s.ݼJ~,+AAp= @A- @A@_~? ALAi&"AA8vNA"AZAbAjArAzAAAT77@Aխ|rACt@A KF<A|=AIw@AܿA@p?A;*A9?2Aֽ:A4=BA9?JAֽRA4=٘i)I9Ct@YG JJJJJ F&K Y]~?yMSLAg F779B)rBE[[\@[^~?[8[[[[BZYY i) zIE?iދM3 F))FrK@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040251.863165 s, next control iter: 1743040252.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040252.263165 s.J~,<+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076678< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743040252.263295F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@Ad?@A0_~? A훩A&"AA vNA"AZAbAjArAzAAAO*l7@AZ')rA>s@AgcD;A=A@AHLݿA1\?AG惼*A9?2Aֽ:AOk=BA9?JAֽRAOk=Y @D@y=D;ٓHG@ O?S1?`u۰jh?.?) @ I٘i)I9s@YfG JJ*;JJJ F&KYx> YV]~?yGKA@h F{7j7 9)uB[[o@[]~?[1[[[[BZYY i) NID?iE0 #E))#EL@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040252.283165 s, next control iter: 1743040252.663180 s, wait time: 0.380015 s6tReceived state from Gazebo (printed only once in a while):62 header.stamp.sec: 137516, header.stamp.nsec: 060 temperature: 13.3854076* salinity: 33.3916896, density: 1025.0000006* values[0]: 0.7020316F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040252.683165 s.lJ~,V++AA(\@A̘u@A@ _~? AAX&"AA(vNA"AZAbAjArAzAAA[7@A!rA%es@AA,=A(@A@3 ޿A ?A6}*Ac9?2A<׽:AM=BAc9?JA<׽RAM=٘i)I9es@Y#G JJJJJ F&K Y]~?yAKAj F"9B)zBE[[ @[+]~?[+[[[[BZYY i) A.I`D?i, gC))gCNN@FYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040252.683165 s, next control iter: 1743040253.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743040253.103165 s.J~,F+AJ"J*J2J:JBJnJvJAQ@AkF@Ah_~? AA&"AAuNA"AZAbAjArAzAAAd*(7@Aj[rA6@A$:ꩵrAr@A!ZA=A@A%߿Ak?Ag*A9?2A/׽:A]=BA9?JA/׽RA]=٘i)I9r@YG J JJJJ F&K Ys]~?y5JAl Fb7b7&9)B[[!@[$]~?[ [[[[BZYY i) voMID?i)|nb! )@)))@Q@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040253.543165 s, next control iter: 1743040253.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13752, header.stamp.nsec: 00 temperature: 13.385647* salinity: 33.391705, density: 1025.000000* values[0]: 0.701129F (some fields omitted in printout):s]~?):5 rAdjusting time to match Gazebo time: 1743040253.943165 s.UdJ~,5]|+AJ"J*J2J:J}3?BJ}3?nJ5<5vJAq= #@A3m@A^~? AA;n&"AAuNA"AZAbAjArAzAAA<ž6@A5 rAr@AHA&=A @AxA ?A@*AV9?2Aֽ:AoQ =BAV9?JAֽRAoQ =٘i)I9r@YSG J+JJJJ F&K Y^]~?yz/JAn F77'9B)BE[[8"@[]~?[)[[[[BZYY i) ]IѻD?i.p @?))@?uS@bʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040253.983165 s, next control iter: 1743040254.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040254.363165 s.J~,>+AAY@APL@A^~? A}A@&"AAğuNA"AZAbAjArAzAAA]$6@AzrAq@A;AT=AIN@A@7oA?A#ћ*Au9?2A$oֽ:AT=BAu9?JA$oֽRAT=YN@T@y=&;ٓH@]m@P]?Nm? jUv??)N@ I٘i)I9q@YG JoJY<JJJ F&Kw> Y}H]~?y"*)JAT@o F)9B)B޹E[[$@[r]~?[[[[[BZYY i) r6lI/D?ij2P z=))z=0T@UΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040254.383165 s, next control iter: 1743040254.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13753&, header.stamp.nsec: 0&0 temperature: 13.385842&* salinity: 33.391727&, density: 1025.000000&* values[0]: 0.700153&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040254.783165 s.XJ~,+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: -0.076678< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743040254.783318F (some fields omitted in printout)A(\@A R@A^~? AwAR&"AA5uNA"AZAbAjArAzAAAĪcP6@A)crA q@Aw[<A8T=A @A@tA=o?AQ*A9?2A9ֽ:Az5=BA9?JA9ֽRAz5=٘i)I9 q@YG JpB=JJJJ F&K Y 2]~?y$IAp F)7v+9)B[[ݓ%@[wY]~?[[[[[BZYY i) e{ID?ic ;));*V@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040254.803165 s, next control iter: 1743040255.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040255.203165 s.J~,Ϳ+AAQ@A@A]^~? A]rA&"AAhuNA"AZAbAjArAzAAAFu6@A&rAVp@Aj<A'=A!@AA4?A\*A9?2ANֽ:A =BA9?JANֽRA =٘i)I9p@Y`G J襼C=JJJJ F&K Y]~?ys_IAr F7@-9B)B۹E[['@[?]~?[% [[[[BZYY i) uII;D?i'Zp o:))o:W@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040255.223165 s, next control iter: 1743040255.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040255.623165 s.\J~,q+AJ"J*J2J:JBJnJvJAG@A@A>^~? AlA,&"AAiKuNA"AZAbAjArAzAAAT k5@A;rAo@A;A`=A4#@AkA@Cy?A8>*A^9?2Aݢֽ:A?=BA^9?JAݢֽRA?=٘i)I9o@Y G JRJJJJ F&K Y(]~?yHAs Fb7 /9B)BعE[[(@[<&]~?[[[[[BZYY idp) FጼID?iNW 8))84Y@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040255.663165 s, next control iter: 1743040256.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13754 , header.stamp.nsec: 0 0 temperature: 13.386120 * salinity: 33.391724 , density: 1025.000000 * values[0]: 0.699086 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040256.043165 s.J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086152< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743040256.043302F (some fields omitted in printout)A= ף0@AR(#@AĎ^~? AgA–&"AA0.uNA"AZAbAjArAzAAA83큢5@ACZrAeo@A@>A=A$@AA`m?AlϦ*AѼ9?2A׽:AT=BAѼ9?JA׽RAT=٘i)I9eo@YG J٧JJJJ F&K Y\~?yHAt F77709 B)BչE[[e*@[[ ]~?[2[[[[BZYY i) xID?ipA˙ g7))g7Z@OתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040256.063165 s, next control iter: 1743040256.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040256.463165 s.VJ~,+AJ"J*J2J:JBJnJvJAfffff@A'_[Y@Az^~? AMbA0&"AAluNA"AZAbAjArAzAAAGdf5@A,jNŝrA/n@AߠDA=A%@A A?AW*A9?2A=F׽:A=BA9?JA=F׽RA=Y@%@y==7EٓH@U2 IipR?JbǞ? @?)@ I٘i)I9n@Y_G J/J<JJJ F&KVx> Y\~?y*,HA%@v Fb7729)B[[<+@[\~?[[[[[BZYY i) sIwD?i:J 5))59\@_٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040256.483165 s, next control iter: 1743040256.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13755, header.stamp.nsec: 00 temperature: 13.386383* salinity: 33.391720, density: 1025.000000* values[0]: 0.697936F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040256.883165 s.y J~,D8+AA(@Ak@Af^~? A4]A"c&"AA#tNA"AZAbAjArAzAAASH>)5@A PrAOQn@AqA=A9'@A[AA?AҬ*A9?2A<׽:A=BA9?JA<׽RA=٘i)I9Qn@Y G JJJJJ F&K Y\~?y GAw F77{7k49&B)BѹE[[-@[k\~?[[[[[BZYY i) dpInD?i2 d4))d4]@y/`ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040256.923165 s, next control iter: 1743040257.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040257.303165 s.fJ~,gS+AJ"J*J2J:J2?BJ2?nJ3;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086152< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743040257.303310F (some fields omitted in printout)A@A@@AGR^~? A;XA&"AAXtNA"AZAbAjArAzAAA#`b4@A/>rA0m@AA=A(@A_A`?Az諼*A+9?2A=ֽ:A5?=BA+9?JA=ֽRA5?=٘i)I9m@YG JJJJJ F&K Y\~?yXGAx Fj7669'B)BιE[[.@[\~?[9[[[[BZYY i) ]IeD?i{'`ֻ 2))2;_@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040257.343165 s, next control iter: 1743040257.703180 s, wait time: 0.360015 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13756., header.stamp.nsec: 0.0 temperature: 13.386644.* salinity: 33.391747., density: 1025.000000.* values[0]: 0.696813.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040257.723165 s.J~,Hn+AAz@A)U@Aw=^~? AdSA%&"AAtNA"AZAbAjArAzAAA6Q4@A! rA0m@A9A~=AU)@AA̾?Aⴼ*A9?2AY}ֽ:Ax=BA9?JAY}ֽRAx=٘i)I90m@Y\G JJJJJ F&K Yu\~?y\FAz Fŧ7b789)B)B˹E[[p0@[\~?[[[[[BZYY i) gI\D?i=ƻ 3d1))3d1`@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040257.743165 s, next control iter: 1743040258.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040258.143165 s.\/"J~, *+AJ"J*J2J:J<2?BJ<2?nJ:5vJA ףp=@Ae0@AX(^~? ANA&"AAQtNA"AZAbAjArAzAAA k4@AlˑrAOl@A]=*<AI=A,+@A 2AO?Aٽ*A9?2A&%ֽ:AF=BA9?JA&%ֽRAF=٘i)I9l@YG J縼JJJJ F&K Yev\~?yFA{ F99)įB[[v~1@[\~?[R[[[[BZYY i) {㹼I8UD?iS  /))/9b@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040258.163165 s, next control iter: 1743040258.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040258.563165 s.(J~,[ +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086152< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743040258.563329F (some fields omitted in printout)A3333s@AD)f@A^~? AJA&"AAttNA"AZAbAjArAzAAA"Or +4@ALUrA.k@At<A=AG,@AvA2?AUļ*A'9?2A}ֽ:Aj=BA'9?JA}ֽRAj=YU@ \,@y=:`u<ٓH ۿ`䥱?@&~?n+?S?)U@ I٘i)I9k@YG JJ<JJJ F&Kw> Y\\~?yFA\,@| F77;9*B)˯BȹE[[$2@[k\~?[&[[[[BZYY i) 1IND?iwN h.))h.c@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040258.603165 s, next control iter: 1743040258.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13757, header.stamp.nsec: 00 temperature: 13.386937* salinity: 33.391750, density: 1025.000000* values[0]: 0.695652F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040258.983165 s./J~,+AJ"J*J2J:J2?BJ2?nJ:5vJA\@AEk@A8]~? AEA5&"AAtStNA"AZAbAjArAzAAA)yZ83@A?yIrALk@AG><A =A̙-@AA@e?A:LǼ*A9?2AQֽ:Ao=BA9?JAQֽRAo=٘i)I9Lk@Y5G JƼJJJJ F&K YC\~?y!EA~ F77a=9,B)үBŹE[[o4@[TP\~?[0[[[[BZYY i) }ȼIGD?iOf h,))h,M3e@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040259.003165 s, next control iter: 1743040259.383181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040259.403165 s.&6J~,+AAQ@AHG@A9]~? A\AAW&"AA[2tNA"AZAbAjArAzAAAu43@A©rAj@A%T;A=A.@A@8A}?A~Ǽ*A+9?2ADֽ:A=BA+9?JADֽRA=٘i)I9j@YG JǼJJJJ F&K Y*\~?yP*EA F7+?9-B)دB¹E[[r5@[4\~?[p[[[[BZYY i) mϼIAD?iݾE p+))p+ۮf@2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040259.423165 s, next control iter: 1743040259.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13758", header.stamp.nsec: 0"0 temperature: 13.387246"* salinity: 33.391754", density: 1025.000000"* values[0]: 0.694369"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040259.823165 s.3@AJrA1Ui@A\lAF,=A1@A wA\?AGɼ*A49?2A5׽:Av=BA49?JA5׽RAv=٘i)I9Ui@YG J3ȼJJJJ F&K YF[~?yCDA Fb77B90B)BE[[8@[ [~?[[[[[BZYY i) rd޼I7D?i>P :}()):}({i@.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040260.263165 s, next control iter: 1743040260.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040260.663165 s.JJ~J,q*+A"J*J2J:Ji1?BJi1?nJ:5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13759, header.stamp.nsec: 00 temperature: 13.387571* salinity: 33.391747, density: 1025.000000* values[0]: 0.693019F (some fields omitted in printout)A@AvQr@A]~? AP5A{&"AAsNA"AZAbAjArAzAAA&#w2@AiOrAsh@Ak!UA=A2@AA@?AJ'μ*A9?2A3׽:A.=BA9?JA3׽RA.=Y$@2@y=/UٓH@տ Ob@9?@+ ? V?)$@ I٘i)I9h@Y G JB˼J1<JJJ F&K.x> Y[~?yCA2@ F7D91B)BE[[;:@[?[~?[n[[[[BZYY i) XI4D?i@: s'))s'Bk@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040260.683165 s, next control iter: 1743040261.063185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743040261.083165 s.DQJ~, SE+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086152< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743040261.083327F (some fields omitted in printout)A)\µ@Aศ@A]~? A1Ah&"AAͩsNA"AZAbAjArAzAAAX;\[2@AmO# rAg@AܚA9=A34@A -A8?A}ռ*A.9?2A ֽ:A1=BA.9?JA ֽRA1=٘i)I9g@Y/ G JCѼJJJJ F&K Y8[~?yPCA Fŧ7ŧ7VF93B)BE[[;@[t[~?[}ާ[[[[ZZ¸BZYY i¸{=) 4ټI0D?iw +%))+%l@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040261.123165 s, next control iter: 1743040261.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040261.503165 s.WJ~,Y4`+AJ"J*J2J:JBJnJvJAR@Atx@ADu]~? A.A &"AAsNA"AZAbAjArAzAAA"&pM2@AQ=}rA\Dg@Am/;Aڷ=Ap5@AA `?AL4ݼ*A9?2A|&ֽ:A=BA9?JA|&ֽRA=٘i)I9Dg@Y G J ټJJJJ F&K Y[~?yBA Fb7!H94B)BE[[=@[[~?[ܧ[[[[ZZBZYY i) |ͼI .D?iE B $))$n@YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743040261.523165 s, next control iter: 1743040261.903181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13760, header.stamp.nsec: 00 temperature: 13.387878* salinity: 33.391750, density: 1025.000000* values[0]: 0.691676F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040261.923165 s.;^J~,{+AA{G!@Ap>;@A]]~? A*AQ &"AAGcsNA"AZAbAjArAzAAA<62@Ax{rANvf@AFU_<ABg=A^6@AaNAă?AЙ*A9?2Aս:A=BA9?JAսRA=٘i)I9vf@YC G JNJJJJ F&K Y,[~?yާ]BA F{7j7I95B)BE[[>@[ [~?[9ۧ[[[[ZZBZYY i) rI,,D?i O ۢ"))ۢ"|o@YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743040261.943165 s, next control iter: 1743040262.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040262.343165 s. elevatorAngleAction: 0.082807< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743040262.343289F (some fields omitted in printout)Ap= W@A%J@A F]~? AH'AM &"AA?sNA"AZAbAjArAzAAAF?߽1@A}SyrA’e@Ac<AG=A8@AKAY?Ar*A89?2Aֽ:A<BA89?JAֽRA<٘i)I9e@Y G JeB=JJJJ F&K Yr[~?yۧAA F77K9) B[[i?@[~s[~?[٧[[[[ZZBZYY i) eI1+D?iّP: +/!))+/!p@yg=YժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040262.383165 s, next control iter: 1743040262.743178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13761*, header.stamp.nsec: 0*0 temperature: 13.388266** salinity: 33.391773*, density: 1025.000000** values[0]: 0.690134*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040262.763165 s.9kJ~,'ذ+AǍ@AN"@A!.]~? A&$A# &"AAqsNA"AZAbAjArAzAAAfYXu1@AkfWwrA6d@A~;Av=AU9@A`A?Aw*A9?2AOֽ:Acp<BA9?JAOֽRAcp Y:W[~?y٧AA\9@ F{7Z7M97B)BE[[^A@[W[~?[ا[[[[ZZBZYY i) =#I*D?imX ٻ))ٻcr@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040262.783165 s, next control iter: 1743040263.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040263.183165 s.rJ~,^+AJ"J*J2J:JBJnJvJA(\@A؜@A]~? A*!A!&"AA rNA"AZAbAjArAzAAAY2,1@AYRvrAc@AA\2=A:@A`tA?Aμ*Aİ9?2Aiֽ:A:;BAİ9?JAiֽRA:;٘i)I9c@Y G J>JJJJ F&K Y;[~?ywק>AA F77{7KO98B)BE[[B@[;[~?[ק[[[[ZZBZYY i) ߞI*D?iL<9 3I))3Is@zYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743040263.203165 s, next control iter: 1743040263.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040263.603165 s.84yJ~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082807< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743040263.603290F (some fields omitted in printout)AQ@A F@A\~? ATAF!&"AAVrNA"AZAbAjArAzAAA; t0@AxpHtrAVc@A^Aq<AO;@A@ A` ?Ajv*A 9?2A_]ֽ:A&BA 9?JA_]ֽRA&٘i)I9Vc@Y\ G JuJJJJ F&K Ye [~?ySէ@A F77Q99B)BE[[2D@[[~?[ ק[[[[ZZBZYY i)  I+D?i=\+: y))yׁ:  g)) gv@qYFFF]Waiting for Gazebo time sync: latest Gz time: 1743040264.043165 s, next control iter: 1743040264.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040264.443165 s.8ÆJ~,B]+AAq= c@AV@A}\~? A Aܯ!&"AArNA"AZAbAjArAzAAAZ<3AOM0@A~7NqrA}b@A$A!A >@A,ZAc?AF/*Aت9?2Ae\ֽ:ABAت9?JAe\ֽRA٘i)I9}b@Y G J4[JJJJ F&K YZ~?y ѧF@A F7{7T9۹: >))>w'x@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040264.463165 s, next control iter: 1743040264.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13763, header.stamp.nsec: 00 temperature: 13.388911* salinity: 33.391754, density: 1025.000000* values[0]: 0.687440F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040264.863165 s.+J~,>7+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082807< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743040264.863319F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A)@A\~? AA!&"AAbrNA"AZAbAjArAzAAA횪0@A BvorAG@b@A8:AAQ?@A@~A ?AGӻ*Ad9?2Aֽ:AHȬBAd9?JAֽRAHȬY1@?@yJ8:ٓHN¿ ?rN?ī bT”?1G?P?)1@ I٘i)I9@b@Y G JJNDJJJ F&K.x> YZ~?yϧa@A?@ Fb77vV9>B),BE[[bH@[VZ~?[է[[[[ZZBZYY iio=) hIh3D?iRo>*; ))y@E)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040264.903165 s, next control iter: 1743040265.263183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743040265.283165 s.:RJ~,R+AA(\@A yP@A\~? AA "&"AA8; )){@5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040265.303165 s, next control iter: 1743040265.683180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13764., header.stamp.nsec: 0.0 temperature: 13.389050.* salinity: 33.391762., density: 1025.000000.* values[0]: 0.686974.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040265.703165 s.J "J *J 2J :J /?BJ /?ֺJ~nJh85vJ,m+AAQ@A8؛@A\~? AA;6"&"AArNA"AZAbAjArAzAAA+p.@A {mrA b@AAu<AW6A6B@A`A?A7^5;*A.9?2Aֽ:ABA.9?JAֽRA伙٘i)I9Y JB=JJJJ F&K YZ~?yBͧ@A Fŧ7b7 Z9?B).BE[[*K@[pZ~?[֧[[[[BZYY i) CI;D?i>t ]; Ϯ))Ϯp|@t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040265.723165 s, next control iter: 1743040266.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040266.123165 s.8J~,a+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069140< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743040266.123305F (some fields omitted in printout)AG:@A-@A:h\~? AA\"&"AAqNA"AZAbAjArAzAAA)˧:.@A'6krA?b@A5<A[AnC@AA`?A;*AN9?2Aåֽ:AKBAN9?JAåֽRAK٘i)I9?b@Y G J;C=JJJJ F&K YyZ~?y˧@A Fj7SI7[9@B)E[[cL@[T{Z~?[{֧[[[[BZYY i) 1InAD?i>; wC))wC>}@y|=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040266.163165 s, next control iter: 1743040266.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040266.543165 s.IJ~,â+AJ"J*J2J:JBJnJvJA= ףp@A'c@AN\~? AAU"&"AA6qNA"AZAbAjArAzAAA -@ArjrAF|b@Aޓ:A)zAE@AtA)?A:3<*A9?2A Hֽ:ABA9?JA HֽRA٘i)I9|b@Y G J<JJJJ F&K Yz]Z~?yʧ@A FZ7]9AB)-BE[[OM@[w`Z~?[ק[[[[BZYY i) TIGD?iK>#ʙ; ))-F@D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040266.563165 s, next control iter: 1743040266.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13765, header.stamp.nsec: 00 temperature: 13.389068* salinity: 33.391762, density: 1025.000000* values[0]: 0.687029F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040266.963165 s.J~,+AAffff@Aq[@AV5\~? AO A"&"AAqNA"AZAbAjArAzAAA-ٓ7-@A|irAb@AA%A(RF@A AQ?Agm<*A͏9?2Aս:AwBA͏9?JAսRAwYlV8@\F@y8$rٓH`] 륿?\? |1?!? cE?)lV8@ I٘i)I9b@Y G JN<JJJJ F&Kw> Y@AZ~?y\ʧ-AA\F@ F77j7l_9BB)+BE[[FO@[pEZ~?[ק[[[[BZYY if=) IND?i'?};  q)) qTW@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040266.983165 s, next control iter: 1743040267.363186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743040267.383165 s.J "J *J 2J :J /?BJ /?nJ {85vJ صJ~,D+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056171< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743040267.383283F (some fields omitted in printout)A(@A@A\~? A A"&"AA|qNA"AZAbAjArAzAAA]DhrA/c@A`UA A%H@A/6Ae%?AL<*A9?2A7ֽ:AqBA9?JA7ֽRAq٘i)I9c@Y G JN<B=JJJJ F&K YZ~?yɧAA F77j7c9DB)&BE[[Q@[Z~?[٧[[[[BZYY i) I5_D?i?I; ))@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040267.823165 s, next control iter: 1743040268.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040268.223165 s.gJ~,H+AJ"J*J2J:JBJnJvJAzG@An:@AM[~? A AD"&"AA/qNA"AZAbAjArAzAAA:2+@AgrAGd@AXAAGAhGAbT?AV<*A[9?2A-~ֽ:AiBA[9?JA-~ֽRAi٘i)I9Gd@Y G J<C=JJJJ F&K YY~?y?ɧABA Fd9EB)"BE[[*XS@[Y~?[ڧ[[[[BZYY i)  ûIhD?i/?; a= ))a= *q@yg]f=d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040268.243165 s, next control iter: 1743040268.623181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040268.643165 s.xJ~,*)+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056171< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743040268.643328F (some fields omitted in printout)A ףp}@A.ep@Ay[~? AA#&"AAqNA"AZAbAjArAzAAAՍhW*@A grAVd@A;A1AFA9VA\|?A <*A9?2Aֽ:AFBA9?JAֽRAF٘i)I9d@YF G J<JJJJ F&K YYY~?yȧBA F77f9)B[[T@[Y~?[`ܧ[[[[BZYY i0=) IsD?i-A?D;  )) #@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040268.663165 s, next control iter: 1743040269.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13767, header.stamp.nsec: 00 temperature: 13.388794* salinity: 33.391747, density: 1025.000000* values[0]: 0.688543F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040269.063165 s.J~,[ D+AJ"J*J2J:JBJnJvJA3333@A(@A[~? AA#&"AApNA"AZAbAjArAzAAAgN[)@AfrAee@A_l<AA.-EA@tbA`H?A7F<*AW9?2A2׽:ABAW9?JA2׽RAY>@>Ey߂ m<ٓH{`??@lo[?+??$?)>@ I٘i)I9ee@Y G J<J⛼JJJ F&K7x> Y)Y~?yfɧCA>E F7ah9FB)BE[[V@[Y~?[ݧ[[[[BZYY i) "̅I}D?iL?< v ))v ~ԃ@5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040269.103165 s, next control iter: 1743040269.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040269.483165 s.x_J~,^+AA\@A\@A[~? AFA #&"AApNA"AZAbAjArAzAAAcp\)@A1K6frAe@A Mi<AjA5CAkA?A*<*Aq9?2Aֽ:ABAq9?JAֽRA٘i)I9e@Y G Jt<JJJJF&K YY~?yɧlCA F777,j9)BE[[\]W@[ܧY~?[ߧ[[[[BZYY i) UBOID?iY?D <  )) @a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040269.503165 s, next control iter: 1743040269.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13768, header.stamp.nsec: 00 temperature: 13.388569* salinity: 33.391758, density: 1025.000000* values[0]: 0.689556F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040269.903165 s.J~,y+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065521< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743040269.903298F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A5!@A[~? AA +#&"AA elevatorAngleAction: 0.065521< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743040271.163278F (some fields omitted in printout)A@Ap@A2[~? AA6#&"AApNA"AZAbAjArAzAAA&@A{9TGerA4*h@AitAA>A7xAA"^<*AI9?2A9ֽ:ABAI9?JA9ֽRAY]E@>y9uٓH _o? ?`Ŀ_n??)]E@ I٘i)I9*h@YL G J<C=Jm<JJJF&Kx> Y'Y~?y̧EA> F7{7Wq9DB)BwE[[\@[4CY~?[5[[[[BZYY i) ':ID?iw?2< g))g'D@O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040271.183165 s, next control iter: 1743040271.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040271.583165 s.J~,R+AJ"J*J2J:J0?BJ0?nJ95vJA)\@Ap(|@A[~? AA3#&"AAoNA"AZAbAjArAzAAAf.G&@AverAh@AgAO=Aw=A@MuA`A<*AI9?2ATֽ:A hBAI9?JATֽRA h٘i)I9h@Y G J?<JJJJF&K Y Y~?yTΧ^EA Fj7Z7!s9)BtE[[%]@[*Y~?[[[[[BZYY i) Jn:ID?i?T:< i:))i:@m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040271.603165 s, next control iter: 1743040271.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13770, header.stamp.nsec: 00 temperature: 13.388150* salinity: 33.391735, density: 1025.000000* values[0]: 0.691655F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040272.003165 s.y J~,P4+AAR+@A>x@AZ~? A"A1.#&"AA5oNA"AZAbAjArAzAAAЧ K%@A9 frA1i@AE;AA%<AoAkAs<*A9?2Aֽ:A%BA9?JAֽRA%٘i)I91i@Y G J<JJJJF&K YX~?yϧEA F777t9)BqE[[D_@[,Y~?[c[[[[BZYY i) ;I-D?i?D< G))G@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040272.023165 s, next control iter: 1743040272.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040272.423165 s.uJ~,+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065521< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743040272.423286F (some fields omitted in printout)A{Ga@AE ;T@AZ~? AA%%#&"AAإoNA"AZAbAjArAzAAA4+<& %@ABvfrAi@Ac@<AՅA':AgA ZAw<*A9?2A'׽:A*BA9?JA'׽RA*9٘i)I9i@Y6G J<JJJJ F&K YX~?y(ѧFA Fj7j7v9)BrE[[l`@[/X~?[-[[[[BZYY i) \;ID?i?r?O< ))(N@T*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040272.443165 s, next control iter: 1743040272.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13771, header.stamp.nsec: 00 temperature: 13.387988* salinity: 33.391708, density: 1025.000000* values[0]: 0.693029F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040272.843165 s. J~,5+AAp= @Aw@AZ~? AgA#&"AA~oNA"AZAbAjArAzAAA9o$@AsfrAj@A{<AGAu9A\A@𵲿A<*A9?2Ag)׽:ABA9?JAg)׽RA켙٘i)I9j@Y|G J<JJJJ F&K YX~?yҧzFA Fx9)BoE[[a@[X~?[[[[[BZYY i G=) n';IE?i?[< S))S@x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040272.863165 s, next control iter: 1743040273.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040273.263165 s.J~,P+AJ"J*J2J:JBJnJvJA@A+P@AZ~? AI A] #&"AAJWoNA"AZAbAjArAzAAA܌#@A:pgrAsj@A1<A蠃A,8AOA@񀶿AT<*AF9?2AYֽ:ABAF9?JAYֽRAYK@88y잃 2<ٓH ?M?`пڛ?`p?7??)K@ I٘i)I9j@YG J5<J3<JJJ F&Kx> YX~?yԧFA88 Fb77Lz9)BlE[[m&c@[X~?[1[[[[BZYY i) ;IE?iڰ?7_b< ӡ))ӡf@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040273.303165 s, next control iter: 1743040273.663177 s, wait time: 0.360012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 137722, header.stamp.nsec: 020 temperature: 13.3878112* salinity: 33.3917012, density: 1025.0000002* values[0]: 0.6934772F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040273.683165 s.lJ~,ck+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074354< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199442 time: 1743040273.683271F (some fields omitted in printout)A(\@A5%Y@A!Z~? AT A"&"AA!0oNA"AZAbAjArAzAAA6Cs6#@AhrAj@Aub/:AiA 6A`?AtAAU<*A9?2Aֽ:A}BA9?JAֽRA}٘i)I9j@YG Jυ<JJJJ F&K YuX~?y(ק+GA Fj7Z7|9)BiE[[Gqd@[X~?[k[[[[BZYY i) 3;I+E?iu?Wj< W))WS@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040273.683165 s, next control iter: 1743040274.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743040274.103165 s.!J~,+AJ"J*J2J:JBJnJvJAQ8@AI+@Af}Z~? A A"&"AA oNA"AZAbAjArAzAAAPUq"@AbkhrAMpk@A!AoAק5Am-A`Aw<*Ac9?2A)Nֽ:A?6BAc9?JA)NֽRA?6٘i)I9pk@YKG J <JJJJF&K Y-fX~?ys٧GA F77}9)BfE[[e@[X~?[[[[[BZYY i) t:;IB@E?i?`t< C))C@y2=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040274.123165 s, next control iter: 1743040274.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040274.523165 s.'J~,{+AAHzn@A a@AcZ~? A A"&"AA$nNA"AZAbAjArAzAAAf!@AuߥirAk@A="yA A_4AA >A7<*A9?2A<ֽ:A"BA9?JA<ֽRA"٘i)I9k@YG JZ<JJJJF&K YJX~?yۧGA F{7{79)BcE[[g@[ X~?[=[[[[BZYY i) I elevatorAngleAction: 0.074354< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743040274.943290F (some fields omitted in printout)Aq= ף@A%:˖@A4JZ~? AmAث"&"AAWnNA"AZAbAjArAzAAAc2d!@AסwjrAWl@A=MA\AJ3AA¿A肉<*A9?2A[oֽ:ABA9?JA[oֽRA٘i)I9Wl@YG J<JJJJF&K Y/X~?yާ4HA F77w9)B`E[[Ch@[oX~?[[[[[BZYY i) G+AA@A @A0Z~? AA"&"AAnNA"AZAbAjArAzAAAye) @AUkrA1l@AzZAAw1A AOĿA*<*AB9?2A\ֽ:AYBAB9?JA\ֽRAYYeR@ֳ1yZٓH?@9,?<ֿ??@?Ok?)eR@ I٘i)I9l@YG J~<JJJJF&K:x> Y9X~?y-HA1 F77A9)ޯB[[i@[YX~?[[[[[BZYY i) M$ elevatorAngleAction: 0.074354< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743040276.203281F (some fields omitted in printout)AQE@A`8@A=Y~? AAD"&"AAGnNA"AZAbAjArAzAAA&.@AGx mrAѪm@AUn<A eA|/AA``ȿA<*A9?2AIA׽:ABA9?JAIA׽RA٘i)I9m@YG J8<JJJJF&K YqW~?ywFIA F)7)7׆9)֯BZE[[l@[}.X~?[j[[[[BZYY i) C elevatorAngleAction: 0.083557< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743040277.463323F (some fields omitted in printout)Affff@AtZ@AY~? AA$!&"AAQmNA"AZAbAjArAzAAAc@A;rrA o@A>A A8+A`AAͿAC,<*Ae9?2AZֽ:Ab% BAe9?JAZֽRAb% YX@1+yƳٓH? ?YܿNe?@|?u@~?)X@ I٘i)I9o@YG Jg<J[eJJJF&Kw> YrW~?y`JA1+ F7779)˯BUE[[/o@[`W~?[[[[[BZYY i) 6rurAp@A`eA;NA,)A@AWпA<*A:?2A½:Ag:BA:?JA½RAg:٘i)I9p@Y"G J<JJJJF&K Y`W~?y'KA F{7j7̏9)¯BOE[[Pr@[W~?[$[[[[BZYY i) = elevatorAngleAction: 0.083557< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743040278.723307F (some fields omitted in printout)Az@A&z@A2jY~? Af#AW!!&"AAfmNA"AZAbAjArAzAAA]s+@AbwrALp@AAuA }(A@A`$]ѿAG<*A:?2AvvŽ:A5BA:?JAvvŽRA5٘i)I9p@YwG J<JJJJF&K YFW~?yKA F)7b79)BLE[[Os@[,W~?[)[[[[BZYY i) 8܏@Awv=yrA}3q@AS;AyAQH'AAҿAQ<*A*:?2AȽ:ABA*:?JAȽRAڕI٘i)I93q@YG J<JJJJF&K Y-W~?yKA F7{7b9BB)BIE[[ot@[JW~?[K.[[[[BZYY i) rzͪ?? -|PR.?`Fv?@P܆?G?) ^@ I٘i)I9q@Y$G J<JϖJJJ F&KC> YsW~?y#\LA & Fŧ7ŧ7,9)B[[v@[W~?[#3[[[[BZYY i)  elevatorAngleAction: 0.083557< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743040279.983304F (some fields omitted in printout)A\(@A@A1"Y~? A,A/l &"AAlNA"AZAbAjArAzAAA7@A2}rATr@AVd<A$ADZ$A`eAӿAI<*Aq:?2A4ν:ABAq:?JA4νRA٘i)I9Tr@Y|G J<JJJJ"F&K YYV~?y LA F{7j79)BFE[[4:w@[B}W~?[8[[[[BZYY i) JJ elevatorAngleAction: 0.083557< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200482 time: 1743040281.243317F (some fields omitted in printout)Aףp=@A(1@AX~? A7AԞ&"AA2lNA"AZAbAjArAzAAA13o@ASÃrA0t@AA:A A AXֿA<*AiQ:?2Aҽ:A|BAiQ:?JAҽRA|٘i)I90t@YG JT<C=JJJJ&F&K Y V~?yqNA F{7{7W9)B[[z@[HW~?[@G[[[[BZYY i) ~ YV~?yNAx E F777"9AB)B>E[[|@[ 8W~?[L[[[[BZYY i) Ak4ASSA`(׿AP<*A>:?2ALԽ:A0BA>:?JALԽRA0٘i)I9u@YsG J <JJJJ(F&K YV~?y#OA F)7)7쟽9)B;E[[\C}@['W~?[Q[[[[BZYY i)  elevatorAngleAction: 0.083557< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743040282.503328F (some fields omitted in printout)ARk@Ax^@A X~? ACA&"AA&lNA"AZAbAjArAzAAAmFm @A-UrA>v@A$AرAAAؿA}<*A56:?2Aս:A6BA56:?JAսRA6٘i)I9>v@YG Jq<JJJJ*F&K YqV~?yh(wOA Fŧ79)B[[u~@[W~?[LW[[[[BZYY i) 8 elevatorAngleAction: 0.092286< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743040283.763345F (some fields omitted in printout)A @A@AVX~? APA&"AAkNA"AZAbAjArAzAAA 9@A-Z6rA{Jx@A2K<A#AA-FAgڿA<*A7:?2A ׽:AiBA7:?JA ׽RAiY;k@yA K<ٓHAc?os?`@NR`ų?`|? f??);k@ I٘i)I9Jx@YG JI<J\JJJ.F&K{> Y(0V~?y9PA F77{791B)nB[[@[V~?[g[[[[ZZZZ¸>BZYY i¸> ) ?w+AJ"J*J2J:JBJnJvJA@AX @AW~? AiA&"AAz%kNA"AZAbAjArAzAAAM}?A^WwWrAC|@A@ĻA1A]AA4޿AD.<*A':?2A$ֽ:AѻBA':?JA$ֽRAѻYq@Yy1ĻٓH@m`H#?(?`A|? 6?`~x`#?)q@ I٘i)I9C|@YG J<JG=JJJ4F&KMx> YHU~?yWRAY F 9)NB*E[[@[V~?[[[[[ZZZZBZYY i^) Ϳ=  )) ث@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040286.303165 s, next control iter: 1743040286.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13785., header.stamp.nsec: 0.0 temperature: 13.384789.* salinity: 33.391552., density: 1025.000000.* values[0]: 0.708621.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040286.703165 s.ԺJ~,+AJ"J*J2J:Jh5?BJh5?nJ8>5vJAQ@Ax@AW~? AtAJ &"AA%jNA"AZAbAjArAzAAAI:!?AERrA~d}@AQ<A]ZA/A*A`%A>u<*A$:?2Aֽ:A<BA$:?JAֽRA<٘i)I9d}@Y9G J]<B=JJJJ7F&K Y%U~?yesSA Fb779/B)DB'E[[j@[V~?[<[[[[ZZZZBZYY i) #5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083305< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743040287.543293F (some fields omitted in printout)A= ף@A${@AW~? AA|2&"AAjNA"AZAbAjArAzAAAY?A!swүrA}@Am<A/<Av# AAAݡ;*A:?2A.ֽ:A<BA:?JA.ֽRA<٘i)I9}@YG J<JJJJ:F&K YU~?ydrSA Fŧ7ŧ7790B)@B%E[[G@[tV~?[[[[[ZZZZBZYY i) (]JJJ;F&Kx> YpU~?yySA  Fb79)?B[[܆@[ziV~?[ţ[[[[BZYY iHm) >KF&K YPU~?ygSA F{7j79)@B[[@[_TV~?[i[[[[BZYY i) r(5vJAz@Ae@A]W~? A̗Ac&"AAEjNA"AZAbAjArAzAAAſAForAH}@AH(Av=AA#޿A AS)*A9?2A$׽:A=BA9?JA$׽RA=٘i)I9}@YmG JJJJJ?F&K Y?U~?y=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067951< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743040290.063317F (some fields omitted in printout)A33333@AR)&@A=W~? AiAo&"AAqjNA"AZAbAjArAzAAAwIf%A1f"rA}|@A7<A^=A[AܿAAV*A9?2Aqֽ:Av=BA9?JAqֽRAv=Y~@Pyb]=<ٓH@J߿?`ԥ)g߿a't? ?)~@ I٘i)I9|@YG J{C=J=JJJBF&Kw> Y!U~?y!RAP Fj7Z79)GB[[%@[7V~?[è[[[[BZYY i l) ~;Iif@C= ˜))˜ ߢ@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040290.083165 s, next control iter: 1743040290.463181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040290.483165 s.y_'J~,+AA\h@Ah$[@AU-W~? AݪA&"AATiNA"AZAbAjArAzAAA3A}!rAo|@AMj<A=AAۿA`fA *Ac9?2AqYֽ:AT=BAc9?JAqYֽRAT=٘i)I9|@YG JJJJJCF&K YU~?yͥMRA Fb77ý9)KB[[O@[.V~?[ʨ[[[[BZYY i) yF;Iih@= x))xq@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040290.503165 s, next control iter: 1743040290.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13789, header.stamp.nsec: 00 temperature: 13.384765* salinity: 33.391491, density: 1025.000000* values[0]: 0.709070F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040290.903165 s.-J~,͹+AJ"J*J2J:J5?BJ5?nJV>5vJAQ@Am@AW~? AkAs&"AAiNA"AZAbAjArAzAAAo A6rAT{@AbRF<A=AAۿA K1As۪*A69?2Aֽ:As=BA69?JAֽRAs=٘i)I9{@Y[G JeJJJJEF&K YU~?yzQA F777Ž9)OBE[[@[&V~?[Ш[[[[BZYY i) Ч;IiSk@= 1))1@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040290.923165 s, next control iter: 1743040291.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040291.323165 s.y4J~,2+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057629< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040291.323276F (some fields omitted in printout)AGz@A!o@AAW~? AA&"AAiNA"AZAbAjArAzAAAAӑAa!rAe{@Ak;A=Ap&"AAiNA"AZAbAjArAzAAAĿhPIKAv%e?rA7z@A1#߻A7=AA`…ٿA@AI*A9?2A\M׽:A=BA9?JA\M׽RA=٘i)I9z@YG JJJJJGF&K YLT~?yԼ(QA Fŧ7b7"ɽ9/B)YBE[[+@[V~?[ݨ[[[[BZYY i) d;Iir@= Ӫ))Ӫ&%@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040291.783165 s, next control iter: 1743040292.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040292.163165 s.x}BJ~,q +AA@@A+2@AV~? AũA&"AAhiNA"AZAbAjArAzAAAMA%krA]=z@A2d_A=AqqAؿA )A"*AE9?2As׽:A1=BAE9?JAs׽RA1=Y@y@=v`ٓH`,tٿZ? ۑBvٿp `A>M싿@?)@ I٘i)I9=z@YNG JJ,&<JJJIF&Kx> YT~?yĨPA FS77ʽ9)]B[[@[V~?[Q[[[[BZYY i) (;Iis@ = d))d@FԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040292.183165 s, next control iter: 1743040292.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040292.583165 s.HJ~,R%+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: -0.057629< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743040292.583299F (some fields omitted in printout)A)\u@A#h@AyV~? A̩Ae&"AAiNA"AZAbAjArAzAAADx|A\rA y@A+ZA=AAV׿A>A'*AS:?2AW׽:Aٷ<BAS:?JAW׽RAٷ<٘i)I9y@YG J6JJJJJF&K YT~?y̨YPA Fj7Z7̽9)bB[[%@[ V~?[[[[[BZYY iЈ) b~:Iiu@=i= o ))o G@'ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040292.603165 s, next control iter: 1743040292.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13791, header.stamp.nsec: 00 temperature: 13.385232* salinity: 33.391472, density: 1025.000000* values[0]: 0.707125F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040293.003165 s. PJ~,j4@+AAR@A;z@AtV~? AөA&"AAxiNA"AZAbAjArAzAAAuA2rAy@AؐŻAQ=ALAO׿A`|A\*A :?2A ׽:An<BA :?JA ׽RAn<٘i)I9y@YG J謼JJJJKF&K YT~?y ըOA F7{7ν90B)gBE[[M@[V~?[[[[[BZYY i) ?:Iixx@_= Kވ))KވHئ@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040293.043165 s, next control iter: 1743040293.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040293.423165 s.uVJ~,[+AJ"J*J2J:JBJnJvJA{G@Ai>@AV~? AکA T&"AAeiNA"AZAbAjArAzAAA-&UA Y[>rA_x@AMҏ;AAz=A#A:ֿAAΨ*A :?2Aֽ:AN<BA :?JAֽRAN<٘i)I9x@YEG JJJJJMF&K Y@T~?yݨOA Fb77Mн9)lB[[,F@[U~?[G[[[[BZYY i) EIi\{@ = Ϟ))Ϟ'h@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040293.443165 s, next control iter: 1743040293.823176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13792", header.stamp.nsec: 0"0 temperature: 13.385462"* salinity: 33.391445", density: 1025.000000"* values[0]: 0.706129"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040293.843165 s.\J~,u+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066805< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040293.843290F (some fields omitted in printout)Ap= @A @A̿V~? AA&"AA`RiNA"AZAbAjArAzAAArOAfrAw@A/L<A =A?AcտAA*A7 :?2A͏ֽ:A4<BA7 :?JA͏ֽRA4<٘i)I9w@YG J-JJJJNF&K YT~?y1#OA F)7ŧ7ҽ9)pB[[HՎ@[U~?[[[[[BZYY i) rJIi~@"= _b))_bC@yƈYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040293.863165 s, next control iter: 1743040294.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040294.263165 s.dJ~,ؐ+AJ"J*J2J:JBJnJvJAL@A;?@A+V~? A A<&"AA\@iNA"AZAbAjArAzAAAjA`qrAuw@Ad<A=AA rԿA%A랼*AF :?2Aֽ:ANO<BAF :?JAֽRANO YkT~?yNA F7{7ӽ9/B)tBE[[e@[U~?[[[[[BZYY i) Ii @#= K!))K!@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040294.283165 s, next control iter: 1743040294.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 137932, header.stamp.nsec: 020 temperature: 13.3857062* salinity: 33.3914382, density: 1025.0000002* values[0]: 0.7051822F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040294.683165 s.ljJ~,Z+AA(\@Au@AV~? A\A&"AA/iNA"AZAbAjArAzAAAg xA+~rAv@AM><A9=A$AӿA@RZAs*A :?2Avֽ:A<BA :?JAvֽRA<٘i)I9v@YMG J=JJJJQF&K YؠT~?ykNA F77ս91B)yBE[[t@[U~?[n [[[[BZYY i) DIi@M%= ]))]o@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040294.683165 s, next control iter: 1743040295.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743040295.103165 s.qJ~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J8 propOmegaAction: 25.1328122J< rudderAngleAction: -0.261799:J@ elevatorAngleAction: -0.066805BJ< massPositionAction: 0.000000nJvJ4 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743040295.103290F (some fields omitted in printout)AQ@A0E@AYV~? AA;&"AAiNA"AZAbAjArAzAAAf3{ArA2xv@AA(=A3JA@ҿAAK*Af :?2A=׽:ArQ<BAf :?JA=׽RArQ<ٕI٘i)I9xv@YG JTJJJJRF&K YFT~?y^NA Fb77x׽9)}B[[܄@[9U~?[/[[[[BZYY i) ЈIi@}&= H{))H{צ@/YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040295.123165 s, next control iter: 1743040295.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040295.523165 s.wJ~,{+AAHz@AM@A,V~? A/A&"AAiNA"AZAbAjArAzAAA AqACr9rAv@A_o6Aւ=APA`ѿAyAᅼ*At:?2Ahs׽:AY<BAt:?JAhs׽RAY<٘i)I9v@YG JJJJJSF&K YT~?yMA F7777Bٽ90B)BE[[@[U~?[[[[[BZYY i) Ii\@%(= -v))-v5@RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040295.543165 s, next control iter: 1743040295.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13794, header.stamp.nsec: 00 temperature: 13.385909* salinity: 33.391426, density: 1025.000000* values[0]: 0.704319F (some fields omitted in printout)*T~?)* rAdjusting time to match Gazebo time: 1743040295.943165 s.[d~J~,O]+AJ"J*J2J:JBJnJvJAq= #@A@A~V~? AA&"AAhNA"AZAbAjArAzAAALH\At sAϕu@AkA7=A6A`DпA`+A` *AB:?2Ap׽:A8<BAB:?JAp׽RA8<٘i)I9u@YxG JȃJJJJUF&K Y T~?y'WMA F77 ۽9)B[[@[gU~?[ [[[[BZYY iy) ʮIiׄ@ *= _r))_rê@lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040295.963165 s, next control iter: 1743040296.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040296.363165 s.J~,>+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076404< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743040296.363285F (some fields omitted in printout)AY@ADL@APV~? ACAei&"AAIhNA"AZAbAjArAzAAAnJm;At$sA(u@A$A%=AgA пAAj*A:?2A6׽:AW<BA:?JA6׽RAW YUT~?yMA{ F)7ŧ7ܽ92B)BE[[!1@[ U~?[|'[[[[BZYY i) F!߻Iik@*= m))mS@AYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040296.383165 s, next control iter: 1743040296.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13795&, header.stamp.nsec: 0&0 temperature: 13.386089&* salinity: 33.391407&, density: 1025.000000&* values[0]: 0.703584&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040296.783165 s.YJ~,2+AJ"J*J2J:J4?BJ4?nJ<5vJA(\@AJP@AxV~? AA&"AAhNA"AZAbAjArAzAAA]ʘAf sAmt@AعA=AAeiοA>A;*AU:?2Aֽ:A<BAU:?JAֽRA<٘i)I9t@YG J/JJJJWF&K Y{T~?yf LA Fb77޽9)B[[@[U~?[K.[[[[BZYY i) ;Ii.@+= Moi))Moi@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040296.803165 s, next control iter: 1743040297.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040297.203165 s.J~, M+AAQ@A;@AopV~? AA?&"AAhNA"AZAbAjArAzAAAAsAYLt@A1<A78=A.Y޿A@Ȝ̿A@cAe*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9Lt@YG J0B=JJJJYF&K YuT~?y)QLA F7m9-B)B[[vN@[}U~?[5[[[[BZYY i) Ii"@p,= Md))Mdqp@y`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040297.223165 s, next control iter: 1743040297.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040297.623165 s.\J~,qg+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: -0.076404< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743040297.623301F (some fields omitted in printout)AG@A.4@AhV~? AI%Ap &"AAhNA"AZAbAjArAzAAA-AEfsKsAxs@APFj<A&=AۿA ʿA@A1*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9s@YjG JC=JJJJZF&K YoT~?y1KA F7789,B)BE[[cܓ@[LU~?[;[[[[BZYY i) FIiD@sl.= `))`^@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040297.663165 s, next control iter: 1743040298.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13796 , header.stamp.nsec: 0 0 temperature: 13.386254 * salinity: 33.391396 , density: 1025.000000 * values[0]: 0.702868 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040298.043165 s.J~,Â+AA= ף0@A IJ#@AaV~? A-A+ &"AAhNA"AZAbAjArAzAAA#f0\= A)㺋sAfs@At?<AX=A &ٿAȿA@\A*A9?2Aֽ:A;=BA9?JAֽRA;=٘i)I9fs@Y$G JJJJJ[F&K Y+jT~?yE:KA F779)B[[i@[|U~?[B[[[[BZYY i) q.Ii@0=  \)) \ɋ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040298.083165 s, next control iter: 1743040298.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040298.463165 s.ZJ~,+AJ"J*J2J:J3?BJ3?nJ<5vJAfffff@A0[Y@AZV~? A4Az &"AAhNA"AZAbAjArAzAAA[ A 0PsA6r@AkA;A2ˊ=AvֿAǿA@AT*A9?2A ׽:A[=BA9?JA ׽RA[=Yp@pֿy ˊ=A;ٓH$?})@U`r-h?(?)p@ I٘i)I9r@YG JJ%<JJJ]F&Kx> Y8gT~?yCEKApֿ F77j79)B[[@[ U~?[I[[[[BZYY i) 2=Ii@0= W))W@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040298.503165 s, next control iter: 1743040298.863180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13797, header.stamp.nsec: 00 temperature: 13.386439* salinity: 33.391407, density: 1025.000000* values[0]: 0.702119F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040298.883165 s.yJ~,/+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076404< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743040298.883277F (some fields omitted in printout)A(@AS[ @ATV~? A<A &"AA?hNA"AZAbAjArAzAAAȑ)t A #sA r@A=HA!=AӿA02ſA`nA*Ax9?2AbX׽:AC =BAx9?JAbX׽RAC =٘i)I9r@YG JJJJJ^F&K YFdT~?yKJA F{79)B[[ۅ@[U~?[QP[[[[BZYY i) *jMIi@i1= %@S))%@S֧@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040298.903165 s, next control iter: 1743040299.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040299.303165 s.WJ~,{g+AJ"J*J2J:J3?BJ3?nJ^<5vJA@A{e@A OV~? ADAMG &"AALhNA"AZAbAjArAzAAA <- AN'sAR r@A)`An=A:ѿA`PNÿAA7*A)9?2Aes׽:AZ=BA)9?JAes׽RAZ=٘i)I9 r@YQG JЉJJJJ_F&K YTaT~?yTJA F77c9)BE[[e@[MU~?[ W[[[[BZYY i) \Iic@bk2= N))N`5@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040299.323165 s, next control iter: 1743040299.703180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13798*, header.stamp.nsec: 0*0 temperature: 13.569744** salinity: 33.375004*, density: 1025.000000** values[0]: 0.575321*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040299.723165 s.J~,H+AAz@A@AJV~? ALA &"AA$hNA"AZAbAjArAzAAA$Ax A]t,sAq@ANRA<=AοAulAAϐ*A,9?2AZJ׽:A=BA,9?JAZJ׽RA=٘i)I9q@YG J_JJJJaF&K Ya^T~?yO]-JAF77{7-9)B[[@[U~?[][[[[BZYY i) alIi\@{3= jJ))jJ¯@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040299.743165 s, next control iter: 1743040300.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040300.143165 s.Z/J~,* +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076404< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743040300.143283F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=@Ad0@AqEV~? ATA &"AAŒhNA"AZAbAjArAzAAA;W AT1sAq@AzڪAt=A\˿AA *A**A9?2Aֽ:A =BA9?JAֽRA =٘i)I9q@YG JUJJJJbF&K Yo[T~?yfIAFŧ7b79)B[[3ǿ[U~?[d[[[[BZYY iȁ) F{Ii@#5= F))FFΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040300.163165 s, next control iter: 1743040300.543182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040300.563165 s.J~,R $+AA3333s@Ab)f@AaAV~? A}\A>v &"AA.hNA"AZAbAjArAzAAA)kI A"+6sAp@Ap;Aj=AuɿA_A.=A+*Ax9?2A`ֽ:AU=BAx9?JA`ֽRAU=Y@iɿy=;ٓH.=f?!v%&xin q@.u??)@ I٘i)I9p@YlG J#J`<JJJcF&Kx> Y[[T~?yniIAiɿF779)B[[ Uſ[U~?[{k[[[[BZYY i) |IiÍ@Nu5= ?A))?A?APҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040300.603165 s, next control iter: 1743040300.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13799, header.stamp.nsec: 00 temperature: 13.570015* salinity: 33.375023, density: 1025.000000* values[0]: 0.574740F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040300.983165 s.J~,>+AJ"J*J2J:J"?BJ"?nJG5vJA\@A@A=V~? A~dA+&"AA`hNA"AZAbAjArAzAAA ؟ Aa;sA p@AR<A ?=AuƿA@xA@LA#*A9?2ADWֽ:A=BA9?JADWֽRA=٘i)I9 p@YG J^JJJJeF&K YH[T~?ywIAF7ŧ79)BE[[ ÿ[WU~?[Cr[[[[BZYY i) > Ii2@w6= o1=))o1=o1=nժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040301.003165 s, next control iter: 1743040301.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040301.403165 s.&J~,Y+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085697< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743040301.403276F (some fields omitted in printout)AQ@Azq@A:V~? AlA=&"AA\hNA"AZAbAjArAzAAA72'- AwG@sA}o@A3b<A؝=A TĿA8ֳAFZAժ*Ad9?2Aiֽ:A=BAd9?JAiֽRA=٘i)I9}o@YG J㨼JJJJfF&K Y4[T~?yzHAFŧ7b7X9)B[[I[U~?[y[[[[BZYY i) IiЎ@6= 8))88yeتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040301.423165 s, next control iter: 1743040301.803175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13800&, header.stamp.nsec: 0&0 temperature: 13.570295&* salinity: 33.375008&, density: 1025.000000&* values[0]: 0.574068&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040301.823165 s.J~,2t+AJ"J*J2J:JBJnJvJAGz@A'jin@AP8V~? AtAԠ&"AA$}hNA"AZAbAjArAzAAAR% AZF0EsAn@A0;A=AA SAfeAYE*A9?2Aֽ:AR=BA9?JAֽRAR=٘i)I9n@YjG JJJJJhF&K Y [T~?yG5HAF77{7#9)B[[![U~?[[[[[BZYY i) $Ii@7= gf4))gf4gf4ܪYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743040301.843165 s, next control iter: 1743040302.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040302.243165 s.J~,q+AAףp=J@Az2=@AY6V~? A|A&"AAyhNA"AZAbAjArAzAAA]uRU A?JsA[n@AP>/Am=AA`GA`nA笼*A9?2An׽:A=BA9?JAn׽RA=٘i)I9[n@YG JJJJJiF&K Y [T~?yGAF779)BE[[{[U~?[}[[[[BZYY i) Ii@9= 0))00YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040302.263165 s, next control iter: 1743040302.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040302.663165 s.J~,q+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085697< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743040302.663280F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13801, header.stamp.nsec: 00 temperature: 13.570590* salinity: 33.374989, density: 1025.000000* values[0]: 0.573415F (some fields omitted in printout)A@AKr@A4V~? AAMf&"AA"whNA"AZAbAjArAzAAA_\w A}OsAm@A!T;A8=A>A(A!tAٮ*A9?2AW׽:A_y=BA9?JAW׽RA_y=Ys@\]yn=;ٓHD?o?? ͼ?XeOʴbj@g?)s@ I٘i)I9m@YG JJ<JJJjF&Kwx> Y]T~?yך_GA] FSI7SI79)B[[AX[TU~?[6[[[[BZYY i) Ii@09= +))++YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040302.683165 s, next control iter: 1743040303.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040303.083165 s.zEJ~,&U+AA)\µ@A@A4V~? AA&"AAXuhNA"AZAbAjArAzAAA[m9 A,#SsAz5m@AgA۵=AbA AwAų*A-9?2AL׽:As=BA-9?JAL׽RAs=٘i)I95m@Y^G JӰJJJJlF&K Y`T~?yFA F779)¯B[[q&[U~?[듩[[[[BZYY i) =pIi@O9= ='))='='+YFFF]q:Waiting for Gazebo time sync: latest Gz time: 1743040303.103165 s, next control iter: 1743040303.483202 s, wait time: 0.380037 s rAdjusting time to match Gazebo time: 1743040303.503165 s.J~,H4+AJ"J*J2J:JBJnJvJAR@Ay@A3V~? AӔA!+&"AA]thNA"AZAbAjArAzAAA^E AwqXsAl@AA<̬=AA`cA [xAyٻ*A 9?2Aֽ:A=BA 9?JAֽRA=٘i)I9l@YG J,JJJJmF&K YocT~?yYFA F7b7M9)ǯB[[E[U~?[[[[[BZYY i) ιIib@:= "))""jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040303.523165 s, next control iter: 1743040303.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13802, header.stamp.nsec: 00 temperature: 13.570867* salinity: 33.375000, density: 1025.000000* values[0]: 0.572714F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040303.923165 s.5J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085697< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743040303.923321F (some fields omitted in printout)A{G!@A=@A3V~? A未Ax&"AA-thNA"AZAbAjArAzAAAF A1]sA;k@A,9Aʊ=AhAJ?AvA`ż*Ab9?2Amֽ:A4=BAb9?JAmֽRA4=٘i)I9k@YG JJJJJnF&K Y;fT~?yFA F79)ͯBE[[ij[nU~?[A[[[[BZYY i)  .Ii@:= y))yy5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040303.943165 s, next control iter: 1743040304.323176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040304.343165 s.<J~,+AJ"J*J2J:J?BJ?nJ5vJAp= W@AJ@A4V~? AA&"AAthNA"AZAbAjArAzAAA3 A@L!bsAPk@A!<A±=AAs?ArA!μ*A;9?2A$3ֽ:A=BA;9?JA$3ֽRA=٘i)I9Pk@Y7G JɼJJJJpF&K YiT~?yܽEAF77{79)үB[[[.U~?[৩[[[[BZYY i) rȼIiҒ@&;= ))CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040304.363165 s, next control iter: 1743040304.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13803*, header.stamp.nsec: 0*0 temperature: 13.571175** salinity: 33.374985*, density: 1025.000000** values[0]: 0.571955*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040304.763165 s.6 J~,0+AǍ@Avi@A5V~? AARR&"AA,vhNA"AZAbAjArAzAAAźBPd A.rgsAj@AXi<A_=A#A@i?AlA՗Լ*A9?2A ֽ:Aa8 =BA9?JA ֽRAa8 =Y6@Xy5[=j<ٓHr?`m\?Rk?`p<b?@d =??)6@ I٘i)I9j@YG JѼJt<JJJqF&Kw>  9YnT~? 9yzƩ(EAXFb779)ׯB[[e[MU~?[|[[[[BZYY i) uϼIi@;=  ))  ~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040304.803165 s, next control iter: 1743040305.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743040305.183165 s.J~,K+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085697< massPositionAction: 0.0000004 buoyancyAction: 0.000500J"J dt: 0.420035*J2J2 time: 1743040305.183335:JBJF (some fields omitted in printout)nJvJA(\@Aۂ@Au7V~? AA&"AA]xhNA"AZAbAjArAzAAAPHG@: Am`lsAi@A_7<A)|=AܬAD ?AcA3ּ*AD9?2A\ֽ:Al=BAD9?JA\ֽRAl=٘i)I9i@Y_G JּJJJJrF&K YHtT~?yϩDAF{7{7x9-B)ޯBE[[+6[U~?[[[[[BZYY i) ּIiВ@";= {\)){\{\ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040305.203165 s, next control iter: 1743040305.583180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040305.603165 s.54J~,f+AAQ@ADmF@A9V~? A A&"AA\{hNA"AZAbAjArAzAAA8e\Q A!{qsA{8i@A5;AzR=A&A`^?AXAռ*A;9?2Aֽ:As+=BA;9?JAֽRAs+=٘i)I98i@Y G JּJJJJtF&K YyT~?yש7DAF77C9.B)BE[[s[U~?[[[[[BZYY i) $޼Ii@D<=  ))  5YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040305.623165 s, next control iter: 1743040306.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13804 , header.stamp.nsec: 0 0 temperature: 13.571506 * salinity: 33.374996 , density: 1025.000000 * values[0]: 0.571138 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040306.023165 s.Z J~,{+AJ"J*J2J:J6?BJ6?nJP5vJAHz.@AH!@A]+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085697< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199492 time: 1743040306.443270F (some fields omitted in printout)Aq= c@A" V@A?V~? A'ͪAv&"AAȃhNA"AZAbAjArAzAAAan A;PD{sAg@AޮbA>=AA ?A:AԼ*A9?2A$8׽:A9=BA9?JA$8׽RA9=٘i)I9g@Y G JԼJJJJvF&K Y+T~?yFCAF779)B[[w[[U~?[ȩ[[[[ZZ¸BZYY i¸";=) QټIi+@== C))CCxYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040306.463165 s, next control iter: 1743040306.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13805, header.stamp.nsec: 00 temperature: 13.571817* salinity: 33.374996, density: 1025.000000* values[0]: 0.570308F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040306.863165 s.+-J~,>+AJ"J*J2J:JBJnJvJA@AB@ACV~? A"ժAdB&"AA3hNA"AZAbAjArAzAAAm] ADn/A#sAg@Az@MAM=A*A&Խ?A 'Aq׼*A9?2A׽:A=BA9?JA׽RA=Yx@Oy=NٓH ??գ?k%? ,`㧉[?)x@ I٘i)I9g@Y G JռB=J.;JJJxF&K(x> YT~?yWBAOF{7Z7 9)BE[[z[AV~?[ϩ[[[[ZZBZYY i)  =ͼIi@O== N))NNYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040306.903165 s, next control iter: 1743040307.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040307.283165 s.4R4J~,+AA(\@A@P@AHV~? AݪA֦%"AAfhNA"AZAbAjArAzAAA AmQssA~Uf@A?An=A]A?A&A*A9?2Afֽ:A<BA9?JAfֽRA<٘i)I9Uf@Y/ G JC=JJJJyF&K YT~?yOBAF77n 9/B)BE[[K[ V~?[թ[[[[ZZBZYY i) )Iiϓ@2== ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040307.303165 s, next control iter: 1743040307.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13806., header.stamp.nsec: 0.0 temperature: 13.572157.* salinity: 33.374989., density: 1025.000000.* values[0]: 0.569444.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040307.703165 s.غ: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: 0.082632< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743040307.703298F (some fields omitted in printout)AQ@A @ALV~? AA %"AA`hNA"AZAbAjArAzAAAEB[0 A~PCӉsAue@A;A/,=A 'A`?AA>*A'9?2Acֽ:A(<BA'9?JAcֽRA(<٘i)I9ue@Y G JB=JJJJzF&K YeT~?y AAF)7ŧ79 9)B[[[V~?[۩[[[[ZZBZYY i) Ii@rP== ~S))~S~Sy~=ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040307.723165 s, next control iter: 1743040308.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040308.123165 s.5AJ~,T+AAG:@Am-@A_RV~? AAq%"AA#hNA"AZAbAjArAzAAApX AF,/sA\d@AlM<AFw=AvAw?A[A1*A9?2A>Rֽ:As<BA9?JA>RֽRAs<٘i)I9d@Y! G JC=JJJJ|F&K Y̦T~?y YAAFSI7SI79) B[[[V~?[J[[[[ZZBZYY i) eIi-@== ))復YFFF]r:Waiting for Gazebo time sync: latest Gz time: 1743040308.143165 s, next control iter: 1743040308.523175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040308.543165 s.IHJ~,"+AJ"J*J2J:JBJnJvJA= ףp@AAJc@AIXV~? AA%"AAhNA"AZAbAjArAzAAAI) A~unsAyc@A=O<AE2=AA %S?AAL׼*AW9?2Acֽ:A[;BAW9?JAcֽRA[;٘i)I9c@Y G JJJJJ}F&K Y4T~?y@AF90B)BE[[[YV~?[[[[[ZZBZYY i) 으Ii@t@>= 6ܾ))6ܾ6ܾzYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040308.563165 s, next control iter: 1743040308.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13807, header.stamp.nsec: 00 temperature: 13.572551* salinity: 33.374996, density: 1025.000000* values[0]: 0.568446F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040308.963165 s.yNJ~,=+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082632< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743040308.963298F (some fields omitted in printout)Affff@A$[@A^V~? AA>%"AAhNA"AZAbAjArAzAAAJ A3sAV+c@AΎ;A6<Ak]A8,?A@ӧAq@*AC9?2Akֽ:AκBAC9?JAkֽRAκY@}Xy55<P;ٓH&?`l?kt? i&?"Ś@ёw?`?)@ I٘i)I9+c@YB G JƼJ"JJJ~F&Kv> YUT~?y@AXF7{791B)B!E[[[&V~?[[[[[ZZBZYY i=) +Ii0@D== "Ծ))"Ծ"Ծ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040309.003165 s, next control iter: 1743040309.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040309.383165 s.J "J *J 2J :J h?BJ h?nJ x5vJ UJ~,fX+AA(@A~@AeV~? AUA%"AAhNA"AZAbAjArAzAAA_˘A6QsA8b@AᓻA@<A}A ?A`A**A9?2AHUֽ:ABA9?JAHUֽRA٘i)I9b@Y G JꚼJJJJF&K YvT~?y"#@AFc9)B[[`[.V~?[*[[[[ZZBZYY i =) DIi@MX== `˾))`˾`˾hgYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040309.403165 s, next control iter: 1743040309.783188 s, wait time: 0.380023 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13808", header.stamp.nsec: 0"0 temperature: 13.572852"* salinity: 33.374992", density: 1025.000000"* values[0]: 0.567652"F (some fields omitted in printout)&vT~?)&"# rAdjusting time to match Gazebo time: 1743040309.803165 s.uA\J~,sgs+AA@AyZ~@AmV~? A A %"AAhNA"AZAbAjArAzAAA $A' sANb@AbPA&ͻA|*A?A4gA!*A9?2A2ֽ:ABA9?JA2ֽRA󀼙٘i)I9Nb@Y G JWJJJJF&K YT~?y@+q@A F7777.92B)B$E[[!/[b6V~?[c[[[[ZZBZYY i) {Iiؓ@>== Μ¾))Μ¾Μ¾(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040309.823165 s, next control iter: 1743040310.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040310.223165 s.gcJ~,H+AJ"J*J2J:JA?BJA?nJP5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077169< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743040310.223290F (some fields omitted in printout)AzG@ARd:@A uV~? AAxx%"AAhNA"AZAbAjArAzAAAЫqdAXL[sAb@AmA:A񔍿A@h?A@BAa֩*AB9?2A,ֽ:AdBAB9?JA,ֽRAd٘i)I9b@Y G J;JJJJF&K YT~?y]3M@A!F779)"B%E[[M[?V~?[[[[[ZZBZYY i) L9gIi@+a== ~ٹ))~ٹ~ٹyw =A)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040310.243165 s, next control iter: 1743040310.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040310.643165 s.viJ~,*+AA ףp}@ADhp@A}V~? AaA%"AAhNA"AZAbAjArAzAAAUAQsAb@A[A8AA v?AA9C*A9?2AUWֽ:A3ϼBA9?JAUWֽRA3ϼؕI٘i)I9b@Y G J[B=JJJJF&K YT~?y{;)@A#F9)[[͐[HV~?[[[[[BZYY i) 2RIi>@== ~))~~/*tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13809, header.stamp.nsec: 00 temperature: 13.572985* salinity: 33.374996, density: 1025.000000* values[0]: 0.567260F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040310.663165 s, next control iter: 1743040311.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040311.063165 s.pJ~,[ +AJ"J*J2J:JBJnJvJA3333@A_`V(@AuV~? A"AFN%"AA&hNA"AZAbAjArAzAAAiֽAÐsAb@AȖ:Aa0APA?A`A /;*A09?2AQֽ:ABA09?JAQֽRAY$@Rya0:ٓH@w?&?sc`?`?w ?R?f?)$@ I٘i)I9b@Y G J$:C=J(JJJF&Kx> YT~?y1Cd@AR$F777793B)#B(E[[ [xQV~?[ [[[[BZYY i*g=) AIi@ <= ~X))~X~Xl*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040311.103165 s, next control iter: 1743040311.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040311.483165 s.}_wJ~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056437< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743040311.483324F (some fields omitted in printout)A\@AF@AV~? Az*AϺ%"AAhNA"AZAbAjArAzAAA{At;sA%#b@AE)*<AKCWAԦA`?AA;*A9?2Aֽ:ABA9?JAֽRA٘i)I9#b@Y G Ja;JJJJF&K YAU~?yJ@A%F{7{7Y9)"B[[km[+[V~?[[[[[BZYY i=) 0Ii/@f<= ))$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040311.503165 s, next control iter: 1743040311.883183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13810, header.stamp.nsec: 00 temperature: 13.572959* salinity: 33.375011, density: 1025.000000* values[0]: 0.567259F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040311.903165 s.}J~,+AJ"J*J2J:JBJnJvJAQ@A @AݙV~? A1A(%"AAiNA"AZAbAjArAzAAA4 AִȸsATZb@Ad<AvAAk?A A'<*A99?2Aֽ:AbBA99?JAֽRAb٘i)I9Zb@Y G Jg<JJJJF&K YU~?yR@A'Fj7Z7#94B)!B)E[[O<[5eV~?[[[[[BZYY i)   Ii@W<= і))іі *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040311.923165 s, next control iter: 1743040312.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040312.323165 s.xJ~,-+AAGzT@AhoG@AMV~? AT9At%"AA*iNA"AZAbAjArAzAAA@NAɰILsAb@A|$%<ApAqAJ?AcAha[<*AȜ9?2Aֽ:Aa BAȜ9?JAֽRAa ٘i)I9b@Y G Ju?<JJJJF&K YU~?yVZAA(F{7{7 95B) B,E[[ [oV~?[[[[[BZYY i) =/Iiݒ@;=  ))  y*=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040312.343165 s, next control iter: 1743040312.723176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13811., header.stamp.nsec: 0.0 temperature: 13.572819.* salinity: 33.375008., density: 1025.000000.* values[0]: 0.567538.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040312.743165 s.WJ~,u/+AJ"J*J2J:JJ?BJJ?nJX5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743040312.743297F (some fields omitted in printout)Aףp=@A.4}@A7V~? A@A%"AAO&iNA"AZAbAjArAzAAA`/AT"sAc@ANM:AEA{A%?A0AS<*A9?2A^ֽ:ArcBA9?JA^ֽRArc٘i)I9c@Y1 G Jbr<B=JJJJF&K Y_+U~?ybQAA)F77"9)B[[Aم[GzV~?[%[[[[BZYY i) CIi@"<= NE))NENE]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040312.763165 s, next control iter: 1743040313.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040313.163165 s.|}J~,qJ+AA@A]@AV~? AGA3y%"AA-7iNA"AZAbAjArAzAAAbDA3sAc@AIA A{vAd?AAri<*Av9?2A ֽ:A~BAv9?JA ֽRA~Y7@vy" ٓH 6? J?4`>?Mΰ?ܲ?`*if?)7@ I٘i)I9c@Y{ G J<C=JJJJF&Kw> Y{;U~?yIiAAv+F7777$96B)B/E[[[@V~?[Z+[[[[BZYY i) B[޻Ii1@3 ;= <y))<y<yT*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040313.183165 s, next control iter: 1743040313.563182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040313.583165 s.J~, Se+AJ"J*J2J:JBJnJvJA)\@AGtϺ@AuV~? AOA%"AAHiNA"AZAbAjArAzAAA$ZA0xɕsA0d@AfAAsqA ?AAM<*A9?2Aս:ABA9?JAսRA٘i)I9d@Y G Jx<JJJJF&K YKU~?ypBA,F77N&97B)B0E[[y[V~?[1[[[[BZYY i)  Ii@|Y:= g))gg*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040313.603165 s, next control iter: 1743040313.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13812, header.stamp.nsec: 00 temperature: 13.572553* salinity: 33.375034, density: 1025.000000* values[0]: 0.568087F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040314.003165 s.~ J~,e4+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743040314.003281F (some fields omitted in printout)AR+@A!y@AV~? A5VA|`%"AA [iNA"AZAbAjArAzAAA񤾞A@sAd@AnAA|AulA?A/AxZ<*A9?2A 8ֽ:AHBA9?JA 8ֽRAH٘i)I9d@Y& G Jk<JJJJF&K Y[U~?ywBA-F)7ŧ7(98B)B3E[[~[6V~?[6[[[[BZYY i) ˻Ii)@9= V))VV*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040314.023165 s, next control iter: 1743040314.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040314.423165 s.uJ~,+AJ"J*J2J:JBJnJvJA{Ga@Aۋh;T@AV~? A=]A^%"AA niNA"AZAbAjArAzAAAk˘A7sAq6e@A$ZA elevatorAngleAction: 0.065706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743040315.263283F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A¿@AV~? A kA%"AA&iNA"AZAbAjArAzAAAxt|AbL9sA0]f@Ai\<A$A&S\A ;,?A`A+<*Aܵ9?2AN׽:ABAܵ9?JAN׽RAYy@t\y/]<ٓH?C?`~77H?U?Dp? ?@?)y@ I٘i)I9]f@Y4 G Jl<C=J!JJJF&KQx> YQU~?y〉CA\1Fb77y-9)B[[ gq[V~?[|G[[[[BZYY i) AIi@)38= \!))\!\!$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040315.283165 s, next control iter: 1743040315.663176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13814., header.stamp.nsec: 0.0 temperature: 13.571918.* salinity: 33.375031., density: 1025.000000.* values[0]: 0.569511.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040315.683165 s.lJ~,I+AA(\@A'@AW~? AqAA%"AA>iNA"AZAbAjArAzAAAs#bAsAmf@A6U<A An WA`"?AA<*A9?2A׽:A}BA9?JA׽RA}٘i)I9f@Y G J<JJJJF&K YU~?yDA3F{7{7C/9:B)B:E[[?m[V~?[L[[[[BZYY i) Ii @37= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040315.683165 s, next control iter: 1743040316.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743040316.103165 s.J~,+AJ"J*J2J:J?BJ?nJ5vJAQ8@A{E+@AJW~? AxAK%"AAiNA"AZAbAjArAzAAA)| A%sAg@A`;AA1RAw?A`vHA<*AĽ9?2Auֽ:AvBAĽ9?JAuֽRAv٘i)I9g@Y G J<JJJJF&K YU~?y>DA4F7719;B)B=E[[h[V~?[LR[[[[BZYY i) îIi@p6= h))hh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040316.123165 s, next control iter: 1743040316.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040316.523165 s.J~,{!+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743040316.523289F (some fields omitted in printout)AHzn@As a@AS&W~? AA<%"AApiNA"AZAbAjArAzAAA-8 R`AsA4h@AkAݢA+ MA?A`Aˮ<*Ay9?2A`ֽ:ABAy9?JA`ֽRA٘i)I9h@Y> G JA<JJJJF&K YxU~?yDA5Fj7Z729)B[[4d[V~?[W[[[[BZYY i) ?%:Ii@5= `&ٽ))`&ٽ`&ٽ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040316.543165 s, next control iter: 1743040316.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13815, header.stamp.nsec: 00 temperature: 13.571562* salinity: 33.375050, density: 1025.000000* values[0]: 0.570249F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040316.943165 s.TdJ~,1]<+AJ"J*J2J:J?BJ?nJ5vJAq= ף@A)@̖@A5W~? AA¼%"AAiNA"AZAbAjArAzAAAKX#{A\ sAߤh@AdKA[咽AGA@L?A@A٭<*A9?2A6ֽ:ABA9?JA6ֽRA٘i)I9h@Y G J<JJJJF&K YU~?yWEA7F7749W+AA@A @AEW~? AA>%"AA:jNA"AZAbAjArAzAAA!ܿA\^sA5i@Aw`Au폽ABA`k ?A qAx<*AO9?2ALֽ:A.BAO9?JALֽRA.Y@׈By鏽;aٓH #?@? n5 i,?@ܭ?u? u?)@ I٘i)I95i@Y G J4<J_<JJJF&Kx> YTU~?yEAB8FZ7SI7n69)B[[3f[[W~?[b[[[[BZYY i) 6;IiÌ@,4= ))6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040317.383165 s, next control iter: 1743040317.763180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13816&, header.stamp.nsec: 0&0 temperature: 13.571222&* salinity: 33.375053&, density: 1025.000000&* values[0]: 0.570971&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040317.783165 s.VJ~,r+AJ"J*J2J:J+?BJ+?nJD5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743040317.783320F (some fields omitted in printout)A(\@A^ P@AUW~? AGA%"AAjNA"AZAbAjArAzAAASRпAWuQ0sAEi@AAALu=A t?Av$Aoݡ<*AF9?2A ֽ:AVBAF9?JA ֽRAV٘i)I9i@YDG J`<JJJJF&K YV~?yFA9Fb7b7989>B)BDE[[V[W~?[g[[[[BZYY i) 2];IiЋ@*2= ^))^^-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040317.803165 s, next control iter: 1743040318.183175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040318.203165 s.J~,.+AAQE@AL8@AfW~? AxAH%"AA7jNA"AZAbAjArAzAAA "{ٯAj^sAEj@A~F;A1VAZ8A w?A\Avؘ<*A9?2A~ֽ:A1BA9?JA~ֽRA1٘i)I9Ej@YG J<JJJJF&K YGV~?y͹yFA;F77:9)BGE[[R[!W~?[!l[[[[BZYY i) K;Ii @1= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040318.223165 s, next control iter: 1743040318.603184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743040318.623165 s.\J~,q+AJ"J*J2J:JY?BJY?nJu5vJAGz@ABm@AwW~? AA%"AA/QjNA"AZAbAjArAzAAA+)?ASCOsA?j@A6<A8A]2A:F?A )AB<*A9?2A%)׽:A2%BA9?JA%)׽RA2%񼙘٘i)I9j@YG J1<JJJJF&K Y)V~?y޿FA<Fb7;9)B[[k#N[0W~?[q[[[[BZYY i~=) s;Iix@B>1= r))rr*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040318.643165 s, next control iter: 1743040319.023183 s, wait time: 0.380018 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13817 , header.stamp.nsec: 0 0 temperature: 13.570880 * salinity: 33.375038 , density: 1025.000000 * values[0]: 0.571676 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040319.043165 s.J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074948< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743040319.043309F (some fields omitted in printout)A= ף@A:̗@AMW~? AAZ%"AAhkjNA"AZAbAjArAzAAA҇E?A׺sA;k@Ar(h<A A r-A?Ac1AO<*A9?2A'׽:ABA9?JA'׽RA٘i)I9;k@Y*G J<JJJJF&K Y9>V~?yŪ:GA=F77{7=9?B)BJE[[OI[?W~?[u[[[[BZYY i) ;Ii@n0= t#))t#t#o*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743040319.063165 s, next control iter: 1743040319.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040319.463165 s.TJ~,ߤ+AJ"J*J2J:JBJnJvJAffff@Al\@A5W~? AdAU%"AA:jNA"AZAbAjArAzAAAg=?ANtA&k@A<AA P(AV?A5A<*A9?2A]ֽ:ABA9?JA]ֽRAY@y(y> <ٓH:C? ?􉭿@S?b?@N?]??)@ I٘i)I9k@YqG J4<B=J=<JJJF&K x> YTV~?yS˪GAy(?FZ787d?9@B)BME[[KHE[OW~?[z[[[[BZYY i) ];IiLj@P/= q<))q<q<x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040319.503165 s, next control iter: 1743040319.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13818, header.stamp.nsec: 00 temperature: 13.570580* salinity: 33.375069, density: 1025.000000* values[0]: 0.572304F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040319.883165 s.yJ~,D+AA(@ADK@A~W~? A#Au%"AAjNA"AZAbAjArAzAAA&=E?A=/PtAr"l@AT9AbAD#A?A@߇A-<*A9?2A%ֽ:ABA9?JA%ֽRA٘i)I9"l@YG JN<C=JJJJF&K YjV~?yЪGA@F77.A9AB)BOE[[@[S_W~?[v[[[[BZYY i)  elevatorAngleAction: 0.074948< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743040320.303281F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AXD@A%W~? AŵA%"AAjNA"AZAbAjArAzAAA?At@ tAʗl@AA[A08A?A1A<*A9?2AVֽ:ABA9?JAVֽRA٘i)I9l@YG J<JJJJF&K YHV~?y֪HHAAFj7j7B9BB)ݯBRE[[Wg<[yoW~?[[[[[BZYY i) P/ elevatorAngleAction: 0.074948< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743040321.563286F (some fields omitted in printout)A3333@A1[*@A@W~? AūA%"AAkNA"AZAbAjArAzAAA lA?AuOh tAn@A 0A{ËAtAu?A>޿A"<*AJ9?2AEֽ:ABBAJ9?JAEֽRABY?@hyZË0ٓH??`R묿`+?`?t? f?)?@ I٘i)I9n@YG J<B=J>ܻJJJF&K0x> YV~?yZIAhFFYH9CB)ӯBXE[[/[W~?[[[[[BZYY i) B=))>=>=:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040321.603165 s, next control iter: 1743040321.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13820, header.stamp.nsec: 00 temperature: 13.569972* salinity: 33.375072, density: 1025.000000* values[0]: 0.573534F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040321.983165 s.J~,~+AJ"J*J2J:J?BJ?nJ5vJA\(@Aq@APX~? A˫A)a%"AA2kNA"AZAbAjArAzAAA?A=CtAvn@AJ;AAv A)D?ARݿAU<*A9?2A׽:A}BA9?JA׽RA}٘i)I9vn@Y"G J<C=JJJJF&K YV~?y,IAGF)7ŧ7$J9)ЯB[E[[*[W~?[Ε[[[[BZYY i) UR))` >` >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040322.443165 s, next control iter: 1743040322.803178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13821", header.stamp.nsec: 0"0 temperature: 13.569632"* salinity: 33.375107", density: 1025.000000"* values[0]: 0.574149"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040322.823165 s.,J~,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: 0.083987< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743040322.823310F (some fields omitted in printout)AGz@Ao@Aq7X~? AԫA8%"AApkNA"AZAbAjArAzAAAnhH@AMtAdo@AN<AcAA^?AۿA<*Aܻ9?2A׽:AJBAܻ9?JA׽RAJ٘i)I9do@YG J<JJJJF&K Y W~?yzsJAJFb77M9EB)ʯB_E[[g![W~?[&[[[[BZYY i)  Bq))>>:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040322.843165 s, next control iter: 1743040323.223182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040323.243165 s.3J~,i+AAףp=@A~31@A{LX~? A٫A?%"AAOkNA"AZAbAjArAzAAA:F@Ax)3tAo@A;AAA(!?A`4ۿA<*A9?2Aֽ:A/ BA9?JAֽRA/ ٘i)I9o@YG J<JJJJF&K Y%W~?y JAKF7777O9FB)ǯBbE[[[W~?[0[[[[BZYY i) ;[)) /> />*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040323.263165 s, next control iter: 1743040323.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040323.663165 s.:J~,q+AJ"J*J2J:J%?BJ%?nJK5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13822, header.stamp.nsec: 00 temperature: 13.569314* salinity: 33.375122, density: 1025.000000* values[0]: 0.574787F (some fields omitted in printout)A@A@AaX~? AYޫA%"AAgkNA"AZAbAjArAzAAAHFL@AI@"tAap@AJAMGArAe?A@mڿA<*A+9?2Ax\ֽ:AZBA+9?JAx\ֽRAZYπ@yFٓHഫ??|0ܿ?&?Z?"u@?)π@ I٘i)I9ap@YMG J<JOnJJJF&Kw> YM?W~?y7KALF77NQ9)ïBeE[['[=W~?[[[[[BZYY i) X))кA>кA>y=D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040323.683165 s, next control iter: 1743040324.063179 s, wait time: 0.380014 sM?W~?) rAdjusting time to match Gazebo time: 1743040324.083165 s.DAJ~,S+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: 0.4199812 time: 1743040324.083284F (some fields omitted in printout)A)\5@Ag(@AuwX~? AA%"AAkNA"AZAbAjArAzAAA1JY @A6Bܖ$tAp@A RA?wA޾A?A ٿA*'<*AЪ9?2A (ֽ:Aj BAЪ9?JA (ֽRAj ٘i)I9p@YG J<JJJJF&K YXW~?yKANFZ7Z7S9QB)ʯBhE[[s#[ X~?[頻[[[[BZYY i) z))S>S>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040324.103165 s, next control iter: 1743040324.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040324.503165 s.J "J GJ~*J2J,v4 +A:J;?BJ;?nJb5vJARk@A0|^@A`X~? A-A84%"AAkNA"AZAbAjArAzAAAl @A1th'tAwq@A6_A{A>nԾA +?A-ؿA;<*A9?2A;ֽ:AKBA9?JA;ֽRAK٘i)I9wq@YG J<JJJJF&K Y rW~?yLAOF77T9)ƯBkE[[3[uX~?[[[[[BZYY i)  ))e>e>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040324.543165 s, next control iter: 1743040324.903183 s, wait time: 0.360018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13823, header.stamp.nsec: 00 temperature: 13.568957* salinity: 33.375141, density: 1025.000000* values[0]: 0.575484F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040324.923165 s.:NJ~,;+AA{G@A$;@AX~? AaA%"AAUlNA"AZAbAjArAzAAA0;Q @Aza)tAr@ASAVAWɾA(?AؿAҡ<*A^9?2Aߍֽ:ABA^9?JAߍֽRA٘i)I9r@YNG J<JJJJF&K YgW~?yjLAPF77V9)B[[ [~2X~?[W[[[[BZYY i) k))w>w>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040324.943165 s, next control iter: 1743040325.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040325.343165 s. elevatorAngleAction: 0.083987< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743040325.343283F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= @A̵h@A X~? AqAǏ%"AA*5lNA"AZAbAjArAzAAA=OjO@At,tAr@AI9;A`&A羾A@f?A`B-׿ArŮ<*A*9?2A2ֽ:ABA*9?JA2ֽRA٘i)I9r@YG J<<JJJJF&K YǤW~?yt LARFb77yX9RB)BnE[[ߍ[EX~?[紪[[[[BZYY i) *))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040325.363165 s, next control iter: 1743040325.743178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13824., header.stamp.nsec: 0.0 temperature: 13.568598.* salinity: 33.375145., density: 1025.000000.* values[0]: 0.576218.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040325.763165 s.<[J~,4p+AA @AL4H@AX~? A\AA%"AAfWlNA"AZAbAjArAzAAAm@A/(.tA.s@Al;<A|AA[?A*TֿAڰ<*AE9?2A,׽:A|BAE9?JA,׽RA|Y&ö@&ys <<ٓH`?k ?@\ ֿ@ ? ȑ?ٴ?nm? ??)&ö@ I٘i)I9.s@YG J<JJJJF&KYx> YAW~?y~@MASF77{7DZ9)BqE[[+ [ YX~?[T[[[[BZYY i) d))`>`>`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040325.803165 s, next control iter: 1743040326.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040326.183165 s.bJ~,k+AJ"J*J2J:JBJnJvJA(\B@A#5@AX~? A"A%"AAzlNA"AZAbAjArAzAAAtuC@AJ%1tAs@A+ke<A[өA-AK?AzտA⒵<*A9?2A!׽:AQBA9?JA!׽RAQ٘i)I9s@Y]G JDz<JJJJF&K YW~?yMATFŧ77\9SB)BuE[[ [lX~?[[[[[BZYY i) ))>><*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040326.203165 s, next control iter: 1743040326.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040326.603165 s.94iJ~,+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: 0.4199722 time: 1743040326.603286F (some fields omitted in printout)AQx@AIHk@AX~? AA=%"AAlNA"AZAbAjArAzAAAH@AM^\3tA_t@Av<A6vAeA^?A`ԿA(<*Ax9?2Aֽ:ABAx9?JAֽRAוI٘i)I9_t@YG J<JJJJF&K Y:W~?y!NAVFb7]9)BxE[[U[X~?[辪[[[[BZYY i) HB))a.>a.>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040326.623165 s, next control iter: 1743040327.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13825 , header.stamp.nsec: 0 0 temperature: 13.568204 * salinity: 33.375164 , density: 1025.000000 * values[0]: 0.577011 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040327.023165 s.ZpJ~,{+AJ"J*J2J:JBJnJvJAHz@A @AqY~? A<Ah%"AAclNA"AZAbAjArAzAAAiq4@A{5tA&u@AJAAhAD?AӿA80<*A9?2Aifֽ:AѣBA9?JAifֽRAѣ٘i)I9u@YG J/<JJJJF&K YX~?yNAWF777_9)B[[[۔X~?[ª[[[[BZYY i) ۞))R>R>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040327.043165 s, next control iter: 1743040327.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040327.443165 s.4vJ~,1]+AAq= @AJ$@A.Y~? AA&%"AAlNA"AZAbAjArAzAAA[JS@AZ7tAҫu@AQ"AhAihAv?AҿAI<*AC9?2Aֽ:ABAC9?JAֽRA٘i)I9u@YG J<JJJJF&K Y0)X~?yOAXFoa9)B{E[[=߾[KX~?[Ū[[[[BZYY i) ))y~>y~>S*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040327.463165 s, next control iter: 1743040327.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13826, header.stamp.nsec: 00 temperature: 13.567802* salinity: 33.375153, density: 1025.000000* values[0]: 0.577825F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040327.863165 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: 0.083987< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743040327.863327F (some fields omitted in printout)A@A} @AEY~? AA_%"AAmNA"AZAbAjArAzAAA:su@A u9tAO[v@AgAGA,A_?A ҿAoT<*A@9?2A"ֽ:ABA@9?JA"ֽRAY@yxhٓH b? ?s)Ͽ`? ?@(?`m?)@ I٘i)I9[v@YG J<JFHJJJF&Kw> YDX~?yxOAZF77{79c9TB)B~E[[9־[X~?[Ȫ[[[[BZYY i) 5))}>}>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040327.903165 s, next control iter: 1743040328.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040328.283165 s.2RJ~,+AA(\O@ANB@A^Y~? AA%"AAn,mNA"AZAbAjArAzAAA腙@A,YO;tA w@A3A['AL5mA?A 3(ѿA<*A9?2AAֽ:ABA9?JAAֽRA٘i)I9 w@Y]G J^<JJJJF&K Y_X~?yOA[F77e9)BE[[Uf;[gX~?[ʪ[[[[BZYY i) nm))a>a>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040328.323165 s, next control iter: 1743040328.683176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13827., header.stamp.nsec: 0.0 temperature: 13.567351.* salinity: 33.375164., density: 1025.000000.* values[0]: 0.578755.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040328.703165 s.ٺJ~,-+AJ"J*J2J:JBJnJvJAQ@A1 x@A[vY~? A Ao%"AAQmNA"AZAbAjArAzAAAp@Aq_ =tAֿw@A"A@ApWA@?AiAпA<*A9?2Aֽ:A~BA9?JAֽRA~٘i)I9w@YG J<B=JJJJF&K Y*{X~?y5!fPA\Fŧ77f9)BE[[4ľ[bX~?[ͪ[[[[ZZZZ¸>BZYY i¸>f) 'n))>>U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040328.723165 s, next control iter: 1743040329.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040329.123165 s.7J~,]G+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083857< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743040329.123289F (some fields omitted in printout)AG@ASAEխ@AюY~? Aa A8%"AAumNA"AZAbAjArAzAAA`^@AW>tA>px@AeY<A/AAA`u(?AοA<*Ar9?2A׽:AABAr9?JA׽RAA٘i)I9px@Y5G J<C=JJJJF&K YzX~?yd#PA^F777h9)BE[[[X~?[Ъ[[[[ZZZZBZYY i) p))'>'>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040329.143165 s, next control iter: 1743040329.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040329.543165 s.IJ~,b+AJ"J*J2J:JBJnJvJA= ף@AK;5@AsY~? AA7%"AA-mNA"AZAbAjArAzAAA T@A:}K@tA91y@Aa<AGAw,A@iL?Ar̿A<*A9?2A5׽:AnKBA9?JA5׽RAnK٘i)I91y@YG J<JJJJF&K YͱX~?y%TQA_F77dj9)BE[[ͱ[Y~?[Ҫ[[[[ZZZZBZYY i) Or))m>m>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040329.563165 s, next control iter: 1743040329.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13828, header.stamp.nsec: 00 temperature: 13.566927* salinity: 33.375191, density: 1025.000000* values[0]: 0.579666F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040329.963165 s.zJ~,}+AAffff&@Ah[@Ay9M<ٓH?W?@粿e¿@?!Z?r??).G@ I٘i)I9z@Y+G J<J=JJJF&Kx> YX~?y&QA`F777/l9)B[[m[{'Y~?[Ԫ[[[[ZZZZBZYY i) ԩ))I>I>y68*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040329.983165 s, next control iter: 1743040330.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040330.383165 s.إJ~,++AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083857< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743040330.383306F (some fields omitted in printout)A(\@A]O@A,Y~? AA%"AAEmNA"AZAbAjArAzAAA}JSn@An "CtAz@A ;AnAuA?A@3ɿA<*AT9?2Aֽ:AZBAT9?JAֽRAZ٘i)I9z@YG J<<JJJJF&K YX~?y1(RAbF77{7m9)}BE[[=[-=Y~?[0ת[[[[ZZZZBZYY i) 7))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040330.403165 s, next control iter: 1743040330.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13829", header.stamp.nsec: 0"0 temperature: 13.566405"* salinity: 33.375187", density: 1025.000000"* values[0]: 0.580700"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040330.803165 s.xAJ~,g+AA@Au@A@Y~? AAe|%"AA* nNA"AZAbAjArAzAAA.|@AiDtA{@AA=7+A8޽A|?AN]ǿAğ<*A̫9?2Aֽ:ApٻBA̫9?JAֽRApٻ٘i)I9{@YG J<JJJJF&K YY~?y)RAcFb77o9)wBE[[=[SY~?[R٪[[[[ZZZZBZYY i) o= y1>))y1>y1>m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040330.823165 s, next control iter: 1743040331.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040331.223165 s.gJ~,H+AJ"J*J2J:J?BJ?nJ5vJAz@A@Ax Z~? AAT%"AAF2nNA"AZAbAjArAzAAA˦L@A)!GEtA^0|@ABApɼATA?AſA<*AǬ9?2AYֽ:A:BAǬ9?JAYֽRA:٘i)I90|@Y}G J <JJJJF&K Y!Y~?y*RAdFZ7SI7q9)rBE[[Y[MiY~?[V۪[[[[ZZZZBZYY i) =e@A$Z~? AhA0%"AAXnNA"AZAbAjArAzAAA֣Dҁ @A$CFtAx|@A9HAxA7A?A ÿA;<*A9?2Aֽ:AD<BA9?JAֽRAD<٘i)I9|@YG J<JJJJF&K Yn=Y~?y,ISAfF77Ys9)nBE[[*[Y~?[<ݪ[[[[ZZZZBZYY i) v+&@AE>Z~? AAW%"AAnNA"AZAbAjArAzAAA40!@A|-GtA}@A$>A2 <AcDCA@?A`A)<*A)9?2Apֽ:A<BA)9?JApֽRAJJJF&K#w> YYY~?y,>SAwCgFŧ7b7$u9SB)kBE[[cs[ Y~?[ު[[[[ZZZZBZYY ifE|) cQ@< ?)) ?? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040332.503165 s, next control iter: 1743040332.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13831, header.stamp.nsec: 00 temperature: 13.565608* salinity: 33.375252, density: 1025.000000* values[0]: 0.582250F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040332.903165 s.J "J *J 2J :J ?BJ ?nJ K5J~vJ,9+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072402< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743040332.903288F (some fields omitted in printout)AQ@A@A|qZ~? AA=%"AAnNA"AZAbAjArAzAAAd&VER"@A:WItAcV}@AC<A=AA1?AAO*A9?2ARԽ:A<BA9?JARԽRA<٘i)I9V}@Y0G Jl;JJJJF&K YFY~?ya-'SAjF)7ŧ7x9)hBE[[kM[xY~?['[[[[BZYY i) s|>JJJF&KFu> YY~?y-RAX=nF77~9)lBE[[s[Z~?[[[[[BZYY iV j) F' A*AQ9?2Aս:A{h =BAQ9?JAսRA{h =٘i)I9|@YlG JxJJJJF&K YZ~?y,RApF)7ŧ79)qBE[[ݽ[7Z~?[[[[[BZYY i) /;Ii$)@< :_-?)):_-?:_-?$˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040335.023165 s, next control iter: 1743040335.403183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743040335.423165 s.uJ~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057139< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743040335.423273F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@A=@A [~? A"#Av%"AAoNA"AZAbAjArAzAAA8d&@A+_&vLtAޙ{@A"Anm=A=A`5v?AÕA#h*A9?2Aս:AO =BA9?JAսRAO =٘i)I9{@Y"G JJJJJF&K Y;Z~?y\,QArF{7{7z9)uBE[[[5OZ~?[[[[[BZYY iv) a;Ii%@Z< >02?))>02?>02?yWojҪYM)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040335.443165 s, next control iter: 1743040335.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13834, header.stamp.nsec: 00 temperature: 13.565486* salinity: 33.375275, density: 1025.000000* values[0]: 0.581917F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040335.843165 s.J~,+AAp= @A @A&[~? AJ#Aq%"AAoNA"AZAbAjArAzAAA~&@A!1LtA{@AqAAS=A>>Ax?A={A*A9?2A ս:A# =BA9?JA սRA# =٘i)I9{@YG J'JJJJF&K YWZ~?y+hQAsFb7b7D9QB)yBE[[;[ gZ~?[[[[[BZYY i) ;Ii#@i< \7?))\7?\7?y@~jתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040335.863165 s, next control iter: 1743040336.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040336.263165 s.J~,+AJ"J*J2J:JBJnJvJAL@A?@A@[~? AJ#Ap%"AAtpNA"AZAbAjArAzAAAL;'@AuVLtAt}z@A"`<A/=A:>Ay?A@?A9x*A9?2A{ ս:AT!=BA9?JA{ սRAT!=Y@N>y).=6<ٓH`6?sÿK?y? ?mCl?`ՠ` ??)@ I٘i)I9}z@YuG JoJ7=JJJF&Kt> YsZ~?y*PA>tF{7{79)}BE[[,S[~Z~?[[[[[BZYY i) Nk;Ii@< 8;?))[:y8;?8;?y/GOتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040336.283165 s, next control iter: 1743040336.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 138352, header.stamp.nsec: 020 temperature: 13.5656232* salinity: 33.3752942, density: 1025.0000002* values[0]: 0.5813802F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040336.683165 s.l J~,s++AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243387@ elevatorAngleAction: -0.066379< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743040336.683318F (some fields omitted in printout)A(\@Au@AZ[~? A!#A~q%"AA-pNA"AZAbAjArAzAAAҎ'@A)KtA~y@As[<A̜=Aȥ0>Av?AZ?A*Au9?2A7ս:A} =BAu9?JA7սRA} =٘i)I9y@YG JJJJJF&K YZ~?y5)PAvFŧ7ŧ7ڈ9)B[[L[mZ~?[[[[[BZYY i) H/;IiU@d< @?)) @?@?תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040336.683165 s, next control iter: 1743040337.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743040337.103165 s.J "J *J 2J :J ?BJ ?J~nJ5,F+AvJAQ@AeQE@At[~? A"A$v%"AALUpNA"AZAbAjArAzAAA~n:7w(@A2KtAIy@A:<A_=A2E>Amt?A`O?AK*A9?2ACӽ:A@ =BA9?JACӽRA@ =٘i)I9Iy@YG JOJJJJF&K YZ~?y'+PAwF7{79PB)BE[[$d[fZ~?[[[[[BZYY i) ':Ii@< HE?))HE?HE?-֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040337.123165 s, next control iter: 1743040337.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040337.523165 s.J~,{a+AAHz@A( @Aʎ[~? AO"A}%"AA|pNA"AZAbAjArAzAAA: )@ACKtAx@At\;AU=A Z>Am?A`?A{*AA9?2A[Խ:A=BAA9?JA[ԽRA=٘i)I9x@Y\G JB=JJJJF&K YZ~?y&OAxFb77o9)BE[[;[Z~?[[[[[BZYY i) AZ^:Ii3@k< (cJ?))(cJ?(cJ?,ӪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040337.543165 s, next control iter: 1743040337.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13836, header.stamp.nsec: 00 temperature: 13.565785* salinity: 33.375324, density: 1025.000000* values[0]: 0.580753F (some fields omitted in printout)Z~?)& rAdjusting time to match Gazebo time: 1743040337.943165 s.TdJ~,1]|+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066379< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743040337.943276F (some fields omitted in printout)Aq= #@A2@A[~? A!A%"AA pNA"AZAbAjArAzAAA-')@A(KtAlx@A\$һA=A_o>A`d?A`?An*A9?2APս:AR=BA9?JAPսRAR=٘i)I9x@YG J᯼C=JJJJF&K YpZ~?y-%XOAzF7:9OB)BE[[)<[Z~?[[[[[BZYY i) FIi>@ա< |MO?))|MO?|MO?ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040337.983165 s, next control iter: 1743040338.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743040338.363165 s.%J~,>+AAY@AL@A[~? A A%"AAXpNA"AZAbAjArAzAAA.A&O*@AWJtAw@A+RA+=AI>AX?A?A~*A9?2Aս:AW<BA9?JAսRAWyߔ=|RٓH+?п+? ??f? @1E?) = I٘i)I9w@YG J}J?JJJF&Kt> YZ~?y"NAρ>{F77{79)BE[[ԫ1=[Z~?[[[[[BZYY i) qIi @.< *T?))!w*T?*T?ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040338.403165 s, next control iter: 1743040338.763178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13837", header.stamp.nsec: 0"0 temperature: 13.565946"* salinity: 33.375320", density: 1025.000000"* values[0]: 0.580127"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040338.783165 s.]+J~,+AJ"J*J2J:J?BJ?nJ5vJA(\@A+O@A|[~? AAe%"AApNA"AZAbAjArAzAAAsL*@A;JtArw@ALAҒ=A+>AIJ?Aɨ?AR*AZ9?2Aֽ:A<BAZ9?JAֽRA<٘i)I9w@YWG JJJJJF&K Y[~?y NA|F77ϑ9NB)BùE[[ =[[~?[T[[[[BZYY i) $IiL@%.< vY?))gvY?vY?=ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040338.823165 s, next control iter: 1743040339.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040339.203165 s.3J~, +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260959@ elevatorAngleAction: -0.066379< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743040339.203314F (some fields omitted in printout)AQ@A]@AD[~? AA%"AAqNA"AZAbAjArAzAAA{z0+@A@PItAU{v@AʵAא=AǙ>A;?A\?A>*A5 :?2A&3Խ:A7G<BA5 :?JA&3ԽRA7G<٘i)I9{v@YG J'B=JJJJF&K Yv5[~?y,NA~Fŧ779)BƹE[[ꕧ=[Q'[~?[[[[[BZYY i) N:Iim@9< ^?)) ^?^?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040339.243165 s, next control iter: 1743040339.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040339.623165 s.^9J~,z+AJ"J*J2J:J^?BJ^?nJ5vJAG@Ac#@A\~? AnA%"AA@qNA"AZAbAjArAzAAAN0$,@AHtA*u@AB;A1ێ=AT>A(?A?AX*A:?2A|+Խ:A<BA:?JA|+ԽRA<٘i)I9u@YG J\C=JJJJF&K YP[~?yXMAFb7e9MB)BɹE[[X=[?[~?[[[[[BZYY i) wIi?̣< b?))b?b?ĪYCYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040339.643165 s, next control iter: 1743040340.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13838 , header.stamp.nsec: 0 0 temperature: 13.566069 * salinity: 33.375336 , density: 1025.000000 * values[0]: 0.579569 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040340.043165 s.@J~,+AA= ף0@A#@A)\~? AAV%"AAgqNA"AZAbAjArAzAAA9>t,@AgGtA iu@A@<Ǎ=AaQ>A?A ?A*A:?2AfԽ:A;z=BA:?JAfԽRA;z=٘i)I9iu@Y]G J<JJJJF&K Yl[~?y"dMAF/9)B[[j]=[MX[~?[:[[[[BZYY i) qRIi?< g?))g?g?ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040340.083165 s, next control iter: 1743040340.443185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743040340.463165 s.UGJ~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066379< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743040340.463283F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@AM]Y@A C\~? A\A %"AAgqNA"AZAbAjArAzAAAh@Z-@A}*qFtAt@AX<A޲=AZ>A`[?A`?A *A:?2ADԽ:A<BA:?JADԽRA>yǯ=X<ٓHP?ֿk?`??บ?R??) > I٘i)I9t@Y G J5JAJJJF&Kt> Y[~?yMA>F77779)B̹E[[}z>[p[~?[<[[[[BZYY iל) MIiW?љ< zl?))'uzl?zl? YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040340.483165 s, next control iter: 1743040340.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13839, header.stamp.nsec: 00 temperature: 13.566202* salinity: 33.375362, density: 1025.000000* values[0]: 0.579018F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040340.883165 s.zMJ~,Y8+AA(@AL!@A\\~? AA-%"AAqNA"AZAbAjArAzAAATsd-@A}ɽEtA7^t@Av;A=A=>A ?As?A*A:?2As~ս:A8<BA:?JAs~սRA8<٘i)I9^t@YG JaJJJJF&K Y"[~?yLAF7{7Ś9LB)BϹE[[uq#>[[~?[[[[[BZYY i) rJػIi?B< 8q?))8q?8q?gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040340.903165 s, next control iter: 1743040341.283185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743040341.303165 s.[TJ~,gS+AJ"J*J2J:J*?BJ*?nJ]5vJA@A4@Au\~? AA R%"AAxqNA"AZAbAjArAzAAARэ.@AabDtAs@AAb=AϺ>A?A?A*AT):?2A/Խ:AX<BAT):?JA/ԽRAX<٘i)I9s@YoG J9JJJJF&K Y[~?yMLAFb779)BҹE[[}7>[\[~?[[[[[BZYY i) @Ii?L:< v?)) v?v?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040341.323165 s, next control iter: 1743040341.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13840., header.stamp.nsec: 0.0 temperature: 13.566313.* salinity: 33.375366., density: 1025.000000.* values[0]: 0.578497.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040341.723165 s.[J~,Hn+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076584< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743040341.723262F (some fields omitted in printout)Az@A9ߡ@A\~? AACy%"AArNA"AZAbAjArAzAAA7 Az&/@Ax CtAKls@A/,A\߇=A>AM?A`K?A$*A(:?2AkԽ:A)<BA(:?JAkԽRA)<٘i)I9ls@Y'G JՋJJJJF&K Y[~?y KAF7{7Z9IB)ԹE[[uK>[[~?[Q[[[[BZYY i) S Ii?Ǻ< |?))|?|?y Y7'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040341.743165 s, next control iter: 1743040342.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040342.143165 s.W/bJ~, *+AJ"J*J2J:JBJnJvJA ףp=@A;Mf0@A\~? APA}%"AA'rNA"AZAbAjArAzAAAcAL/@A?AtAcr@A]AB=Ag>A`?A@R?AT*A":?2Anս:A.<BA":?JAnսRA.<٘i)I9r@YG JJJJJF&K Y[~?y KAFŧ7b7%9HB)B׹E[[-`>[[~?[[[[[BZYY i) Ii?Ć< ?))??ݼYhYFFF]Waiting for Gazebo time sync: latest Gz time: 1743040342.163165 s, next control iter: 1743040342.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040342.563165 s.hJ~,_ +AA3333s@A1[*f@A\~? AA%"AAMrNA"AZAbAjArAzAAA5:*0@A?D@tAr@AOAb=A>Aa?A?APy*A:?2A Qս:A3=BA:?JA QսRA3=Y(p>E>ya=6ٓH@W? ܿ--???@U?hI?)(p> I٘i)I9r@YG J&JS:JJJF&Ks> Y \~?y5KAE>Fj7SI79)B[[Tt>[[~?[ު[[[[BZYY i) *Ii?< ?))0Au??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040342.583165 s, next control iter: 1743040342.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13841, header.stamp.nsec: 00 temperature: 13.566398* salinity: 33.375378, density: 1025.000000* values[0]: 0.578041F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040342.983165 s.oJ~,+AJvPublished command to Gazebo (printed only once in a while):"J*J( dropWeightState: 12J:JBJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.239506nJ@ elevatorAngleAction: -0.076584vJ< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743040342.983285F (some fields omitted in printout)A\@A,@A\~? A[ A%"AA@srNA"AZAbAjArAzAAA`u0@A>tAr@AA:ۍ=A@>A ;?AΡ?AƐ*As:?2A?eս:As=BAs:?JA?eսRAs=֕I٘i)I9r@YTG J匼JJJJF&K Yi#\~?y)JAF77779GB)BڹE[[S>[\~?[ݪ[[[[BZYY i) 9IiC?@v< ✅?)){˄✅?✅?%êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040343.003165 s, next control iter: 1743040343.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040343.403165 s.&vJ~,+AAQ@Aq8@A=\~? A A@4%"AArNA"AZAbAjArAzAAAI0@AUH8 =tAuq@Al<AU=Aez>A?A=?A*AQ0:?2A`ӽ:AO =BAQ0:?JA`ӽRAO =٘i)I9q@YG J蓼JJJJF&K Y<\~?yMzJAF{7{79FB)BݹE[[>[o\~?[ڪ[[[[BZYY i) }IIi]?k< ),?)) ),?),?ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040343.423165 s, next control iter: 1743040343.803178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13842, header.stamp.nsec: 00 temperature: 13.566517* salinity: 33.375401, density: 1025.000000* values[0]: 0.577588F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040343.823165 s.|J~,%+AJ"J*J2J:JBJnJvJAGz @AԘs @A ]~? AAj%"AArNA"AZAbAjArAzAAA 1@A9M;tAq@A.]<A=A+?A?A@_?A*A/:?2Aӽ:AȢ =BA/:?JAӽRAȢ =٘i)I9q@YG J<B=JJJJF&K Y2V\~?yqJAF77P9EB)BE[[>[3\~?[ت[[[[BZYY i) |XIiO?b< ?))??ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040343.843165 s, next control iter: 1743040344.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040344.243165 s.J~,\+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076584< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743040344.243274F (some fields omitted in printout)Aףp=J @AF0= @A"]~? AA%"AArNA"AZAbAjArAzAAAOSS1@Asyw9tAp@AV4<A=ALT?A?A?AnM*A*:?2A7Խ:AAd =BA*:?JA7ԽRAAd =٘i)I9p@YiG JSC=JJJJF&K Yo\~?yIAF7779)B[[C>[CL\~?[;֪[[[[BZYY i) gIi?[< X?))X?X?r̪YR YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040344.263165 s, next control iter: 1743040344.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040344.663165 s.J~,q*+AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13843, header.stamp.nsec: 00 temperature: 13.566644* salinity: 33.375408, density: 1025.000000* values[0]: 0.577068F (some fields omitted in printout)A @A臭r @A:]~? AA%"AAsNA"AZAbAjArAzAAA1@A7tAp@AcA5;Ae=Aب ?A@G?As?AP*Ac%:?2Aս:A =BAc%:?JAսRA =Y,;>1 ?y?=5;ٓH%?@Ca]?? p9?探?̲*f??),;> I٘i)I9p@YG JvB=JOT<JJJF&Ks> Y\~?yZIA ?F77{7媾9DB)įBE[[>[>d\~?[Ӫ[[[[BZYY i) wIi?N< ?))yu?? ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040344.683165 s, next control iter: 1743040345.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040345.083165 s.DJ~,SE+AA)\µ @A @AR]~? AOA%"AAT+sNA"AZAbAjArAzAAA<<:1@A7,5tA3o@AYAj=A ?A \?A@?A*A:?2A$ս:AOb =BA:?JA$սRAOb =٘i)I9o@YG J4C=JJJJF&K Y\~?ySHAFb7b79AB)ůBE[[>[B|\~?[Ъ[[[[BZYY i) Q%Iiؘ?C< ?))??ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040345.103165 s, next control iter: 1743040345.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040345.503165 s.J~,74`+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.259721@ elevatorAngleAction: -0.076584< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743040345.503274F (some fields omitted in printout)J"J*J2J:JBJnJvJAR @A¡x @A/j]~? AA`%"AA:OsNA"AZAbAjArAzAAA{s+2@ArVHh3tA*n@AdTAyW=AZ@?AR(?AI?A*AU8:?2A`\Խ:A =BAU8:?JA`\ԽRA =٘i)I9n@YtG JJJJJF&K Y\~?yHAF{7{7z9@B)ȯBE[[sO>[G\~?[Ϊ[[[[BZYY iů) Ii?9< ?)) ??ԪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743040345.523165 s, next control iter: 1743040345.903174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13844, header.stamp.nsec: 00 temperature: 13.566765* salinity: 33.375408, density: 1025.000000* values[0]: 0.576536F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040345.923165 s.CJ~,{+AA{G! @A> @A]~? A=A%"AArsNA"AZAbAjArAzAAA ZVqr2@AF41tAtn@AGA;=AD?A?Azi?A*A7:?2AԽ:A =BA7:?JAԽRA =٘i)I9tn@Y!G JB=JJJJF&K Y\~?y+HAFŧ7b7E9)̯B[[#>[I\~?[ʪ[[[[BZYY i) 4QIi?0< ?))??֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040345.943165 s, next control iter: 1743040346.323184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743040346.343165 s.J "J *J 2J :J ?BJ ?nJ 5vJ [:\~?[Ǫ[[[[BZYY i) 晼Ii߃?(< a?))a?a?٪YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040346.363165 s, next control iter: 1743040346.743181 s, wait time: 0.380016 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13845*, header.stamp.nsec: 0*0 temperature: 13.566879** salinity: 33.375420*, density: 1025.000000** values[0]: 0.575962*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040346.763165 s.6J~,ذ+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743040346.763287F (some fields omitted in printout)Ǎ @Az @A]~? AA7%"AA߸sNA"AZAbAjArAzAAAH&ӑ2@A,Q,tAYm@Ab ;A=A7'?A ?A b?A*A$:?2AԽ:Ah=BA$:?JAԽRAh=Yp>P'?y=U;ٓHS?nr?e?`i?\u?" Gt??)p> I٘i)I9Ym@YtG JӫJG<JJJF&Ks> Y\~?y۪YGAP'?FZ7ڳ9>B)ӯBE[[>[\~?[^Ī[[[[BZYY i) XIit?¬< ?))gv??y䰯IݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040346.803165 s, next control iter: 1743040347.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743040347.183165 s.˲J~,o+AJ"J*J2J:JBJnJvJA(\ @AAF@ @A]~? AADŽ%"AAZsNA"AZAbAjArAzAAA*]B3@A^*tAl@AG<A=AgG,?AF?A`v?Af¶*AS:?2A%ս:A2=BAS:?JA%սRA2=٘i)I9l@YG J JJJJF&K Y]~?yժFAF779=B)ׯBE[[Gi>[!\~?[[[[[BZYY i) ɨIic?< ??))ꇅ????YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040347.203165 s, next control iter: 1743040347.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040347.603165 s.84J~,+AAQ @AE @Ar]~? AgA%"AAnsNA"AZAbAjArAzAAA3@A;'tA7'l@AV<A2=AZ1?A|?A?Aa*A%/:?2ARӽ:A=BA%/:?JARӽRA=٘i)I9'l@YG J JJJJF&K Y*]~?ycЪFAF777p9)ۯB[[ >[ ]~?[[[[[BZYY i) ?;IiT?< J?)) J?J?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040347.623165 s, next control iter: 1743040348.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13846 , header.stamp.nsec: 0 0 temperature: 13.567066 * salinity: 33.375431 , density: 1025.000000 * values[0]: 0.575360 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040348.023165 s.ZJ~,|+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743040348.023290F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz. @A! @A]~? AA\'%"AAtNA"AZAbAjArAzAAAϠ3@Al[$tAk@A x;A*=A6?AG?Au?AN*AD):?2A>6Խ:A=BAD):?JA>6ԽRA=٘i)I9k@YZG JxJJJJF&K YQA]~?y ˪FAFŧ77:98B)ܯBE[[Q?[!]~?[3[[[[BZYY i) 7IifF?; ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040348.043165 s, next control iter: 1743040348.423186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743040348.443165 s.8J~,B]+AAq= c @AJV @AN^~? AޫA|%"AA]@tNA"AZAbAjArAzAAA 4@A2"tAj@A`&A=A(;?Aঅ?A >?A~*AA!:?2Aս:A=BAA!:?JAսRA=٘i)I9j@YG JJJJJF&K YW]~?yŪEAF{7j797B)BE[[E?[8]~?[[[[[BZYY i) Iiv:?; Ū?))Ū?Ū?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040348.463165 s, next control iter: 1743040348.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13847, header.stamp.nsec: 00 temperature: 13.567245* salinity: 33.375462, density: 1025.000000* values[0]: 0.574704F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040348.863165 s.+J~,>7+AJ"J*J2J:J?BJ?nJE5vJA @A7ُ @A^~? AګA%"AA.atNA"AZAbAjArAzAAA#O9L4@AvRftAQIj@AsL1A=A;A?A`,@?A?A*A:?2Aս:A#=BA:?JAսRA#=Y?@?y=1ٓH>? z`#ɫ? 2?N?۰? r) ?)? I٘i)I9Ij@YG JJn<JJQFJF&Kt> YMl]~?y5EA@?F77м9)B[[ ?[O]~?[ﰪ[[[[BZYY i) eƼIi'?; CU?))nxCU?CU?pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040348.903165 s, next control iter: 1743040349.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040349.283165 s.4RJ~,R+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242193@ elevatorAngleAction: -0.085826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199322 time: 1743040349.283304F (some fields omitted in printout)A(\ @AO @A2^~? A\իA,/%"AAtNA"AZAbAjArAzAAAjv4@A!ttAi@AC[A2=AɀF?A ?A]?A+ü*A:?2A$ֽ:AH=BA:?JA$ֽRAH=٘i)I9i@Y4G J`JJJJF&K Y݀]~?yDAF7{796B)BE[[K?[3f]~?[[[[[BZYY i) ͼIi?A; ?)) ??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040349.303165 s, next control iter: 1743040349.683175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 138482, header.stamp.nsec: 020 temperature: 13.5674292* salinity: 33.3754582, density: 1025.0000002* values[0]: 0.5740472F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040349.703165 s.ֺJ~,m+AJ"J*J2J:JBJnJvJAQ @A @AG^~? AЫAe%"AAotNA"AZAbAjArAzAAAH4@A=l(tAh@ABA}=AK?A`h?A?A˼*A#:?2ApuԽ:AH=BA#:?JApuԽRAH=٘i)I9h@Y G JƼB=JJJJF&K Yt]~?yLDAFb7b7f95B)BE[[h?[|]~?[[[[[BZYY i) ԼIi?; b?))b?b?pYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743040349.723165 s, next control iter: 1743040350.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040350.123165 s.4J~,P+AAG: @A- @Aj\^~? A˫A%%"AAtNA"AZAbAjArAzAAAܷ  5@AhׇtA@Rh@AF4p9A=A_P?A`Zf?A`qJ?A#\Ӽ*Al:?2AlԽ:A6=BAl:?JAlԽRA6=٘i)I9Rh@Ye G JμC=JJJJF&K Y]~?yCAFj7j70¾92B)BE[[_?[]~?[H[[[[BZYY i) 9ܼIi2>; v?))v?v? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040350.143165 s, next control iter: 1743040350.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040350.543165 s.IJ~,â+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743040350.543286F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp @Ac @Ap^~? ArƫANN%"AAtNA"AZAbAjArAzAAA=?kG5@A`jktAg@Adm<A&=AhQU?Ax?AA?Aۼ*A:?2AԽ:A=BA:?JAԽRA=٘i)I9g@Y G JּJJJJF&K Y]~?ycCAF77{7þ91B)BE[[L\!?[]~?[^[[[[ZZ¸BZYY i¸5 =) ;HмIi<>W;; 6?))6?6?>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040350.563165 s, next control iter: 1743040350.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13849, header.stamp.nsec: 00 temperature: 13.567623* salinity: 33.375488, density: 1025.000000* values[0]: 0.573314F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040350.963165 s.wJ~,줽+AAffff @AjjZ @A^~? A:A޲%"AA?tNA"AZAbAjArAzAAA ǃ5@AS;tAf@Aw]<AK5=A]kZ?A?A`Ƶ?A߼*A :?2AԽ:A~i =BA :?JAԽRA~i =Y8"?ҺZ?y0=Z^<ٓH?2? ?\ ? ?O޶૮??)8"? I٘i)I9f@Y G JݼJ7<JJJF&Ku> Y]~?yBAZ?F7ž9,B)BE[[@&?[]~?[][[[[ZZBZYY i) Y6ļIi>m; ?))^z??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040351.003165 s, next control iter: 1743040351.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040351.383165 s.J~,#+AJ"J*J2J:JBJnJvJA( @A7S! @A ^~? A㻫A%"AA.uNA"AZAbAjArAzAAAc(5@A tAf@A2.<Ar=A_?A {?AMg?A$*AK:?2Acս:A&=BAK:?JAcսRA&=٘i)I9f@Y G J:JJJJF&K Y]~?yQmBAFb7b7Ǿ9)B[[wH,?[]~?[,[[[[ZZBZYY i) h"Ii6>D; )?)) )?)?cYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040351.423165 s, next control iter: 1743040351.783175 s, wait time: 0.360010 s]~?)Q"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13850", header.stamp.nsec: 0"0 temperature: 13.567867"* salinity: 33.375488", density: 1025.000000"* values[0]: 0.572528"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040351.803165 s.yAJ~,g+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083027< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743040351.803290F (some fields omitted in printout)A @A2 @AR^~? AmA-%"AA9uNA"AZAbAjArAzAAAm{I5@AY tA3e@A4;A&=Ad?A@&?A ^?A,c*A6:?2AoԽ:AX<BA6:?JAoԽRAX<٘i)I93e@Y G JJJJJF&K Y]~?yAAFZ7Z7Zɾ9+B)BE[[1?[ ]~?[ˎ[[[[ZZBZYY i) fIi;x>'; o?))o?o?yn=yԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040351.823165 s, next control iter: 1743040352.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040352.223165 s.gJ~,H+AJ"J*J2J:Jp?BJp?nJ5vJAzG @Aaۢ: @A)^~? AװA%"AAkVuNA"AZAbAjArAzAAANg26@A;tA]d@AAu=A:j?A?A@Ǡ: 8?))8?8?AY,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040352.243165 s, next control iter: 1743040352.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040352.643165 s.u J~,*)+AA ףp} @Adp @A^~? A%A\%"AAruNA"AZAbAjArAzAAAݮoj6@A)4DtAc@AeA1=Ano?Aـ?A ޼?A̼*A?:?2A|gս:A3;BA?:?JA|gսRA3;٘i)I9c@Y G J+JJJJ F&K Y(^~?ym@AF77{7̾9&B) BE[[: r?))r?r?yYFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13851, header.stamp.nsec: 00 temperature: 13.568184* salinity: 33.375488, density: 1025.000000* values[0]: 0.571532F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743040352.663165 s, next control iter: 1743040353.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040353.063165 s.J~,V D+AJ"J*J2J:JO?BJO?nJk5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083027< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743040353.063291F (some fields omitted in printout)A3333 @A_`V( @A^~? AUA6%"AAuNA"AZAbAjArAzAAA'vY6@A <4sAb@AC8UAΣ<A–t?A}*?Av?AQ짼*A<:?2Aս:A+BA<:?JAսRA+Yg Y+^~?y8@At?Fj7Z7ξ9)B[[B?[&^~?[}[[[[ZZBZYY i=) Ii=.U: I?))}I?I?~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040353.083165 s, next control iter: 1743040353.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040353.483165 s._J~,^+AA\ @A" @A}^~? AhA?%"AAuNA"AZAbAjArAzAAAa6@ADsA4b@AFA!<Any?AG?Ad?Ai*A5:?2Aֽ:AWBA5:?JAֽRAW٘i)I9b@Y G J/JJJJ F&K Y;^~?yx@AFb777о9%B)B E[[K*H?[:^~?[w[[[[ZZBZYY ir=) ~Ii<ܡR9 ?)) ??tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040353.503165 s, next control iter: 1743040353.883182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13852, header.stamp.nsec: 00 temperature: 13.568430* salinity: 33.375504, density: 1025.000000* values[0]: 0.570778F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040353.903165 s.J~,y+AJ"J*J2J:JBJnJvJAQ@A'@A_~? A^A{%"AAKuNA"AZAbAjArAzAAA__ 7@ARsAb@A&8;AطA~?A?A`?AG7*AC:?2Aս:A?rBAC:?JAսRA?r٘i)I9b@Y G J-eB=JJJJF&K Y4L^~?yp@AFŧ7b7PҾ9)B[[M?[GN^~?[oq[[[[ZZBZYY i) iIcI?i  ff?))ff?ff?W(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040353.943165 s, next control iter: 1743040354.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040354.323165 s.|$J~,>+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.078343< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040354.323313F (some fields omitted in printout)AGzT@A9EGrG@A_~? A8Aj+%"AANuNA"AZAbAjArAzAAA!L?7@Aog&sAa@A`D<AܠA?A`5?A?AL߻*AI9:?2AEս:ABAI9:?JAEսRA٘i)I9a@Yw G JC=JJJJF&K Y\^~?yij@AFԾ9!B)B E[[S?[a^~?[ k[[[[ZZBZYY i) +UIFI?i楽ZT /?))/?/?y=v=i)YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040354.343165 s, next control iter: 1743040354.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13853*, header.stamp.nsec: 0*0 temperature: 13.568519** salinity: 33.375523*, density: 1025.000000** values[0]: 0.570374*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040354.743165 s.W+J~,~+AJ"J*J2J:J?BJ?nJ5vJAףp=@AG 6}@AT'_~? AAf%"AAuNA"AZAbAjArAzAAAF=q7@ADUsA^a@AmQ<AjAx?A`{?A T?A *A-:?2Aս:A"ȼBA-:?JAսRA"ȼ٘i)I9a@Yc G JXJJJJF&K Yl^~?ygbF@AF77վ9)B[[AY?[t^~?[~d[[[[BZYY i) @I I?iם ?))??0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040354.763165 s, next control iter: 1743040355.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040355.163165 s.t}2J~,q+AA@Aӡ@Ay7_~? AAd%"AAvNA"AZAbAjArAzAAAEW/7@AINtsAa@A;AZ3At+?A ξ?A@?A';*A!:?2Aս:ArBA!:?JAսRArYi+V?"?yY3;ٓH~?(6`Q?`k?)`i?z?`?)i+V? I٘i)I9a@Yb G JJF+JJJF&Kru> Yz^~?yZ@A"?Fŧ7b7׾9 B)BE[[^?[͆^~?[][[[[BZYY imj=) /I I?i<>p ?))x??p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040355.183165 s, next control iter: 1743040355.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040355.583165 s.8J~, S+AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.250921> elevatorAngleAction: 0.057233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743040355.583324F (some fields omitted in printout)A)\@AF ж@A4G_~? A(AT%"AA(vNA"AZAbAjArAzAAAݢ7@Ar/sAa@A XAP[Ae?A ?A ?A;*AX:?2Aս:ALBAX:?JAսRAL٘i)I9a@Yv G J;JJJJF&K YÈ^~?yS@AF77{پ9)B[[[d?[Ř^~?[W[[[[BZYY ip=) |II?iy ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040355.603165 s, next control iter: 1743040355.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13854, header.stamp.nsec: 00 temperature: 13.568474* salinity: 33.375534, density: 1025.000000* values[0]: 0.570347F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040356.003165 s.z @J~,U4+AAR+@Aw@AV_~? AyA3%"AAE@vNA"AZAbAjArAzAAA{PI8@A=?nsAb@A=A9{AR7?A@8?A/?AY@<*Ae:?2AԽ:A BAe:?JAԽRA ٘i)I9b@Y G J?<JJJJF&K Y^~?yaK@AFE۾9B) BE[[zlj?[^^~?[P[[[[BZYY i) II?i@ W?))W?W?*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743040356.023165 s, next control iter: 1743040356.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040356.423165 s.uFJ~,+AJ"J*J2J:J?BJ?nJ 5vJA{Ga@A{) elevatorAngleAction: 0.066622< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743040356.843280F (some fields omitted in printout)Ap= @AZ@As_~? A;lAw%"AAsmvNA"AZAbAjArAzAAACQ;Y8@A#YsAb@AAAd?A`?A~?AD<*A:?2Aս:A}BA:?JAսRA}٘i)I9b@Y G JV<JJJJF&K Y^~?y<sAAF7777޾9B)BE[[v?[T^~?[A[[[[BZYY i) xػIH?ikt E ?))E ?E ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040356.863165 s, next control iter: 1743040357.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040357.263165 s.TJ~,#P+AJ"J*J2J:JBJnJvJA@A@A܁_~? AheAŢ%"AA vNA"AZAbAjArAzAAAO8@ANJm/sA^c@A :AA?A6?AB?Al <*A:?2ADֽ:ABA:?JADֽRAY,p?d?y& :ٓH4?@iL 7?`?ec?`SSA??),p? I٘i)I9^c@Ya G JW<JJJJF&Kv> Y^~?y3AA?F{7j79)B[[[{?[f^~?[J:[[[[BZYY i) =IH?il޾Y ?))??D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040357.283165 s, next control iter: 1743040357.663177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13856., header.stamp.nsec: 0.0 temperature: 13.568014.* salinity: 33.375549., density: 1025.000000.* values[0]: 0.571243.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040357.683165 s.lZJ~,Rk+AA(\@A6T@Ak_~? A~^A(%"AAvNA"AZAbAjArAzAAA'ά8@AnsABc@At<ASۛAʖ?A?A38?Aw<*A:?2Aֽ:ABA:?JAֽRA٘i)I9c@Y G JY<B=JJJJF&K YH^~?y+?BAF77p9B)BE[[nՀ?[^~?[2[[[[BZYY i) `I,H?i x?))x?x?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040357.683165 s, next control iter: 1743040358.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743040358.103165 s.aJ~,+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066622< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200652 time: 1743040358.103344F (some fields omitted in printout)AQ8@A{G+@A_~? AWA%"AA1vNA"AZAbAjArAzAAAS8@AÎq?A2?A u?AQ<*A:?2ABֽ:A7 BA:?JABֽRA7 ٘i)I9jd@Y G JC<C=JJJJF&K Y^~?y#BAF7777;9B)BE[[Ã?[A^~?[+[[[[BZYY i)  ;|IH?i ? Ɔ?))Ɔ?Ɔ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040358.123165 s, next control iter: 1743040358.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040358.523165 s.gJ~,{+AAHzn@AFa@A'_~? AlPA9%"AAvNA"AZAbAjArAzAAA-8@A8 _`sAd@A$-<A5͟A?A\?A?A<*A:?2Aֽ:A BA:?JAֽRA ٘i)I9d@Y[ G J<JJJJF&K Y^~?y CAFZ7Z79)B[[k?[ _~?[A#[[[[BZYY i) ^?IH?iO h?))h?h?*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743040358.543165 s, next control iter: 1743040358.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13857, header.stamp.nsec: 00 temperature: 13.567698* salinity: 33.375538, density: 1025.000000* values[0]: 0.571909F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040358.943165 s.J "J *J 2J :J h?BJ h?nJ 5vJ `dnJ~,d]+AAq= ף@A9ϖ@AR_~? ADIA%"AAvNA"AZAbAjArAzAAA9@A(xesA1e@AL8:A7A,?A?A@?AY<*A:?2Aֽ:A* BA:?JAֽRA* ՕI٘i)I9e@Y G J<B=JJJJF&K YY^~?ypCAF)7b79)B[[Z?[._~?[F[[[[BZYY i) VIH?i{#ƻ Q?))Q?Q?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040358.963165 s, next control iter: 1743040359.343186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743040359.363165 s.uJ~,>+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066622< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743040359.363284F (some fields omitted in printout)A@Ard@A_~? A BAQ%"AAvNA"AZAbAjArAzAAA3C9@A xјsA*f@AAaӞA?A ?A@?A<*A:?2Arֽ:AP BA:?JArֽRAP Y[?$?yҞٓH? s` h]??|@+ճ?S5@?)[? I٘i)I9*f@Y G Jg<C=JJJJ F&Kx> Y^~?yZ CA$?F{7j79B)߯BE[[?[%_~?[C[[[[BZYY i) I~H?iu)Uػ *?))*?*?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040359.383165 s, next control iter: 1743040359.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13858&, header.stamp.nsec: 0&0 temperature: 13.567359&* salinity: 33.375557&, density: 1025.000000&* values[0]: 0.572656&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040359.783165 s.W{J~,+AJ"J*J2J:J?BJ?nJ5vJA(\@A}.P@AB_~? A:A%"AAvNA"AZAbAjArAzAAASܑAe9@A$sAf@AQ\A\ќA?A!?AcS?A׻<*A:?2Amֽ:A BA:?JAmֽRA ٘i)I9f@Yu G Jɻ<JJJJ!F&K Y^~?yFDAFb77f9)گB[[d?[2_~?[ [[[[BZYY i) 8IH?i+6-  ?)) ? ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040359.803165 s, next control iter: 1743040360.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040360.203165 s.J~,* +AAQE@A8@A_~? A^3An%"AAwNA"AZAbAjArAzAAAKu܅9@A~ăsAdg@ABA"AA?A?A ?AO<*A_:?2Aֽ:A6 BA_:?JAֽRA6 ٘i)I9dg@Y G J˺<JJJJ"F&K YT_~?yDAF709)կB[[?[)?_~?[[[[[BZYY i) @:ITH?i@. t?))t?t?-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040360.243165 s, next control iter: 1743040360.603182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743040360.623165 s.ZJ~,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: 0.066622< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743040360.623288F (some fields omitted in printout)AGz@At%m@AH_~? A+A%"AAwNA"AZAbAjArAzAAA9@AՄsA*g@AgᄻAR(Ai?A?A?A|+<*A :?2A׽:ABA :?JA׽RA٘i)I9g@Y1 G J<JJJJ$F&K Y _~?y9EA EF7779)ѯB[[%?[K_~?[S[[[[BZYY i)  :I}H?iIV C?))C?C?#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040360.643165 s, next control iter: 1743040361.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13859 , header.stamp.nsec: 0 0 temperature: 13.567004 * salinity: 33.375565 , density: 1025.000000 * values[0]: 0.573433 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040361.043165 s.J~,B+AA= ף@A ᘣ@A_~? Ao$A^%"AA%wNA"AZAbAjArAzAAA3FJ9@AZ,~sAh@Ax;AEAJ?A@)?AU?Auɨ<*Ae:?2A_׽:A4BAe:?JA_׽RA4٘i)I9h@Y G J<JJJJ%F&K Y_~?yEAF)7ŧ79 B)ȯBE[[ꑘ?[dV_~?[[[[[BZYY i) ';IHH?ihPa ?))??-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040361.063165 s, next control iter: 1743040361.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040361.463165 s.WJ~,]+AJ"J*J2J:JBJnJvJAffff@AZ[@AT_~? AAd#%"AAm4wNA"AZAbAjArAzAAAh@9@AisA i@A&R<AAS?A@A?Ae?Aˡ<*Ak:?2AZ׽:ABAk:?JAZ׽RAY)?5?ynR<ٓH@s?MM9b#8?`ډ?@{{ 2?D? ?))? I٘i)I9i@Y G J<Jy<JJJ&F&Kx> Y_~?y;EA5?F7779)ïB[[?[`_~?[([[[[BZYY i) e;I[H?i]1 ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040361.503165 s, next control iter: 1743040361.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13860, header.stamp.nsec: 00 temperature: 13.566683* salinity: 33.375587, density: 1025.000000* values[0]: 0.574163F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040361.883165 s.yJ~,Dx+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066622< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743040361.883318F (some fields omitted in printout)A(@AZ+@A_~? A@A%"AA BwNA"AZAbAjArAzAAAFO9@A_BsA;i@A,T<AkA?A@m?A:?Aם<*A,:?2Ao׽:ABA,:?JAo׽RA٘i)I9i@Y0G JƟ<JJJJ(F&K Yj"_~?yةIFAF[9)B[[0?[k_~?[l[[[[BZYY i) ;IшH?iOiQ z@))z@z@*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743040361.903165 s, next control iter: 1743040362.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040362.303165 s.VJ~,wg+AJ"J*J2J:JBJnJvJAQ@A섗D@A]`~? A AL%"AAOwNA"AZAbAjArAzAAA,_:@A2lsA8$j@A;AAx|?A ?A`;a?Aޜ<*A:?2A(׽:ABA:?JA(׽RA٘i)I9$j@YG J<JJJJ)F&K YL(_~?yЩFAF77&9)B[[?[pt_~?[ש[[[[BZYY i) ;I{H?ir] Q@))Q@Q@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040362.323165 s, next control iter: 1743040362.703175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13861*, header.stamp.nsec: 0*0 temperature: 13.566377** salinity: 33.375591*, density: 1025.000000** values[0]: 0.574844*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040362.723165 s.J~,H+AAz@Axaz@A! `~? AA%"AAA[wNA"AZAbAjArAzAAA@a):@A@ߤܝsAj@AlAӋA?A$?A7?AZA<*A:?2Aֽ:ABA:?JAֽRA٘i)I9j@YG J<JJJJ*F&K Y-._~?yeǩ GAF779 B)BE[[?[8}_~?[Ω[[[[BZYY i0=) ;P;IPnH?i-zX @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040362.743165 s, next control iter: 1743040363.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040363.143165 s.S/J~,)+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075777< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743040363.143273F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@AVf@Ae`~? AARz%"AAfwNA"AZAbAjArAzAAAR?:@AdЉsA+k@A?AA_?AqA?A?A<*A9:?2A˨ֽ:ABA9:?JA˨ֽRA٘i)I9+k@Y!G J <JJJJ,F&K Y4_~?yȾoGAF779B)BE[[ܴ?[X_~?[ũ[[[[BZYY i) `;I`H?i# O@))O@O@#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040363.163165 s, next control iter: 1743040363.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040363.563165 s.J~,J +AA3333@A+@A&`~? AFAn%"AAWqwNA"AZAbAjArAzAAAiT:@A7YsAk@AD^AA$?A@~i?A/?A΃<*AL:?2Auֽ:ABAL:?JAuֽRAYT6?B?y=^ٓH}?.G?-ǻ?`՚p?‹ ?)T6? I٘i)I9k@YpG JR<J*<JJJ-F&Kx> Y7_~?yGAB?F779)B[[?[_~?[w[[[[BZYY i)  elevatorAngleAction: 0.075777< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743040364.403300F (some fields omitted in printout)AQ^@Ad#Q@A'`~? AAE%"AAQwNA"AZAbAjArAzAAA"!x:@A8K&sAl@A:AFA~?A?A ?Ac<*An :?2AYH׽:AnBAn :?JAYH׽RAn٘i)I9l@YG J5<B=JJJJ0F&K Y.=_~?yHAFŧ7ŧ79)B[[?[_~?[[[[[BZYY i) f% elevatorAngleAction: 0.075777< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743040365.663282F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13864, header.stamp.nsec: 00 temperature: 13.565578* salinity: 33.375587, density: 1025.000000* values[0]: 0.576696F (some fields omitted in printout)A@A^@A5`~? AΪA)&"AAԚwNA"AZAbAjArAzAAA_!:@A*+|sA:m@A* $<AŽAe?A M?A>?A<*A9?2AB׽:A5BA9?JAB׽RA5YA?)N?yfr$<ٓH'x?`z@I??Xu? رoԱ?n??)A? I٘i)I9m@YG J$<JJJJ4F&Kqx> YmC_~?y1IAN?F7777{9B)BE[[v#?[p_~?[׍[[[[BZYY i) S elevatorAngleAction: 0.084629< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743040366.923290F (some fields omitted in printout)A{G@A ;@Ak>`~? AA&"AA9wNA"AZAbAjArAzAAAHxQ:@At)xmsAo@A5_A_A?A@ן?AIh?A <*AV9?2A}ֽ:A BAV9?JA}ֽRA ٘i)I9o@YG JQ<JJJJ8F&K YC_~?yoJAFb7b7 9B)BE[[v?[Ϯ_~?[;q[[[[BZYY i) ր YcA_~?y4^KAY?F77q 9)}B[[?[_~?[^[[[[BZYY i) < elevatorAngleAction: 0.084629< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743040368.183276F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\B@A<5@AB`~? A`A&"AApwNA"AZAbAjArAzAAA\":@A]^sAq@Al;A՜A?AK?A{?A͈<*A:9?2A,R׽:A\BA:9?JA,R׽RA\٘i)I9q@YG Jh<JJJJ<F&K Y>_~?yqUKAF77;9)xB[[?[y_~?[hT[[[[BZYY i)  elevatorAngleAction: 0.084629< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743040369.443300F (some fields omitted in printout)Aq= @A}>@AB`~? A#AR&"AA]wNA"AZAbAjArAzAAA9\:@A)?}OsAjr@Ah;A3A?AAw?A݌<*A 9?2Aֽ:A8BA 9?JAֽRA8٘i)I9r@YG JB<JJJJ@F&K Y6_~?y';MAF7779)jB[[@?[P_~?[t7[[[[BZYY i)  :w+AJ"J*J2J:JBJnJvJA@Ax @AA`~? A~A:&"AAwNA"AZAbAjArAzAAAȶ:@AcJsAWs@A^]AEAT?A{cAq?A<*A9?2Aֽ:AgBA9?JAֽRAgY+T?w`?yE܏ٓH 5ɿ`@Ǚ?D?ɿ` \B? q ?)+T? I٘i)I9Ws@YG J<B=JeJJJAF&K x> Y1_~?y2MA`?F{7Z7f9)eB[[Gd?[_~?[-[[[[BZYY i)  elevatorAngleAction: 0.084629< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743040370.703301F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Ax@A=`~? AmAu&"AAwNA"AZAbAjArAzAAA+@:@AÃ8$AsARt@Ay[AA_r?AAC^?AD<*Af9?2AMRֽ:ANBAf9?JAMRֽRAN٘i)I9t@YG J<B=JJJJDF&K Y%_~?yE!tNAFS779)[B[[?[O_~?[[[[[BZYY i) 0G?iYgi #@))#@#@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040371.583165 s, next control iter: 1743040371.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13870, header.stamp.nsec: 00 temperature: 13.563954* salinity: 33.375614, density: 1025.000000* values[0]: 0.580744F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040371.963165 s.>J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084629< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743040371.963302F (some fields omitted in printout)Affff&@A[@A4`~? AUAK &"AAwNA"AZAbAjArAzAAA*X)Mğ:@Ay2sAv@A .<A%A߉?A>Ar.?A']<*AW9?2ARD׽:ABAW9?JARD׽RAY _?kk?y.<ٓH 9ҿ`9bc?`"u?@ҿO???`]?) _? I٘i)I9v@YG J<J JJJHF&Ktx> Y_~?yOAk?F77\9B)JBE[[R)?[{_~?[3[[[[BZYY i) p׽:A&BA9?JA>׽RA&٘i)I9Sw@YG J<B=JJJJIF&K Y/ _~?y6IPAF{7{7'!9B)FBE[[ S?[[_~?[[[[[BZYY i) >;@A*`~? AFA &"AAwNA"AZAbAjArAzAAA:@A{(sAex@A~<AAN?Ac¿A2?AV:<*A 9?2Asֽ:A-BA 9?JAsֽRA-٘i)I9x@YG J<C=JJJJKF&K Y_~?yPAF)7b7"9)AB[[8|?[w_~?[w[[[[ZZZZ¸>BZYY i¸>) ?A8 &"AA wNA"AZAbAjArAzAAAds:@Ac'#sA*x@A 9AA2?AƿA`L?An=*A9?2A;>ֽ:ABA9?JA;>ֽRA٘i)I9y@YG J<JJJJMF&K Y6^~?yQAF7777&9)4B[[#?[c_~?[٨[[[[ZZZZBZYY i) 9 Y.^~?yݨRAl?F7Q(9B)/B E[[?[X_~?[Ϩ[[[[ZZZZBZYY i) sA:{@A-AVrAt?AiɿA ?AEr<*A9?2Az^ֽ:A/lBA9?JAz^ֽRA/l٘i)I9:{@YG J/=JJJJPF&K Y'^~?yը|RAF77*9)(B[[#?[L_~?[ƨ[[[[ZZZZBZYY i) @AaͿA`F?Av<*A9?2Atֽ:A.;BA9?JAtֽRA.;٘i)I9|@YG J<JJJJSF&K Y^~?yŨHSAF7-9B)BE[[_<@[2_~?[[[[[ZZZZBZYY i) 5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083051< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743040375.743277F (some fields omitted in printout)Aףp= @A}@3@A_~? AA&"AALwNA"AZAbAjArAzAAA}|9@AKFsA,}@A{i<AZ Ag@A0ϿA 6 ?As<*An9?2A]ֽ:A<'<BAn9?JA]ֽRA<'<٘i)I9}@Y G J<JJJJTF&K Y^~?y}SAFb7|/9)B[[@["%_~?[f[[[[ZZZZBZYY i)  JJJUF&KWw> Yl^~?ySA@F7)7F19B)BE[[f@[_~?[ţ[[[[ZZZZBZYY i^y) &s5=A(@A *ӿAk?A@>*A9?2A(ֽ:Aߑ<BA9?JA(ֽRAߑ<٘i)I9}@YmG JOJJJJYF&K Y^~?ySAFZ7Z769B)BE[[% @[^~?[[[[[BZYY i) ":JJJ\F&Kw> Ye^~?y)SA4 @FZ7Z7<:9 B) BE[[K @[^~?[z[[[[BZYY if) .ֽ:A=BAg9?JA>ֽRA=٘i)I9 }@YG J;HJJJJ]F&K YU^~?yPRAF7777<9)#B[[ @[a^~?[r[[[[BZYY i) 3#@))k>@k>@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040378.683165 s, next control iter: 1743040379.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743040379.103165 s.J~,+AJ"J*J2J:JBJnJvJAQ@A+MF@A(_~? AԩAz0&"AAvNA"AZAbAjArAzAAAW8@AArA|@A?<Arj=A6 @AֿA Փ?A*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9|@YG J.JJJJ_F&K YE^~?yRAF=9 B)(BE[[p@[g^~?[ k[[[[BZYY i) ;I1E?i,&\ `?@))`?@`?@?ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040379.123165 s, next control iter: 1743040379.503177 s, wait time: 0.380012 sE^~?) rAdjusting time to match Gazebo time: 1743040379.523165 s.J~,{+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056363< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743040379.523290F (some fields omitted in printout)AHz@Ad9 @Ap_~? AͩAպ&"AAȼvNA"AZAbAjArAzAAA`1 8@AgKrA|@Aβf<A=A @ARc׿AX?AA *A9?2AV ֽ:A=BA9?JAV ֽRA=٘i)I9|@YsG JJJJJ`F&K Y5^~?yy.RAF7{7?9),B[[{@[^~?[c[[[[BZYY i}) u;IE?iW A@))A@A@y8.gwЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040379.563165 s, next control iter: 1743040379.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13878, header.stamp.nsec: 00 temperature: 13.383750* salinity: 33.391651, density: 1025.000000* values[0]: 0.709299F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040379.943165 s.`dJ~,d]+AJ"J*J2J:J5?BJ5?nJf>5vJAq= #@A^)@AB_~? AƩAC&"AA0vNA"AZAbAjArAzAAAVa8@ASNh0 rA{@A<A=A9_@Aq7ؿA?A穼*A9?2AZֽ:Ao=BA9?JAZֽRAo=٘i)I9{@YG JGJJJJaF&K Y%^~?yrQAF77fA9B)2BE[[p@[v^~?[Z\[[[[BZYY i) k;Ih{E?i9d5R C@))C@C@y=gӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040379.963165 s, next control iter: 1743040380.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040380.363165 s.J~,>+AAY@Ap!L@A~_~? AҿA&"AAvNA"AZAbAjArAzAAAĪy8@A7rA{@AAx.A|=A@A`% ٿAX?A|ĩ*Ai9?2Aֽ:A2} =BAi9?JAֽRA2} =Y@@yz=.ٓHQ@0Y8G?@7 ?J<E?)@ I٘i)I9{@YG JJ =JJJcF&Kx> Y?^~?yksQA@F7771C9B)8BE[[q @[Jb^~?[1U[[[[BZYY i) 2;IiE?i";P D@))D@D@yχԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040380.403165 s, next control iter: 1743040380.763179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13879*, header.stamp.nsec: 0*0 temperature: 13.384021** salinity: 33.391651*, density: 1025.000000** values[0]: 0.708177*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040380.783165 s.J "J *J 2J :J K5?ZJ~BJK5?nJ>5vJ,2+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065668< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743040380.783301F (some fields omitted in printout)A(\@A˿W@Ap_~? AAJP&"AAvNA"AZAbAjArAzAAAtXO8@A24rASuz@A~$AŪ=A@AٿA?A`*A79?2Aa׽:A=BA79?JAa׽RA=٘i)I9uz@YpG JoB=JJJJdF&K Y^~?y)e QAF77D9B)>BE[[ׯ@[(M^~?[3N[[[[BZYY i) i;IXE?i8N 7F@))7F@7F@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040380.803165 s, next control iter: 1743040381.183181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040381.203165 s.J~,*M+AAQ@A+ٱ@Aa_~? AUA&"AA>jvNA"AZAbAjArAzAAA%"8@AZ:rA#y@A2hA=Ad@A(ڿA`R?A*Aɽ9?2A׽:A=BAɽ9?JA׽RA=٘i)I9y@YG J/C=JJJJfF&K Y]~?yw^PAFb77F9B)DBE[[=@[7^~?[gG[[[[BZYY i) J-;IGE?iӝJ ~G@))~G@~G@TҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040381.223165 s, next control iter: 1743040381.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040381.623165 s.[J~,mg+AJ"J*J2J:J4?BJ4?nJ=5vJAG@A@AS_~? AAU&"AASvNA"AZAbAjArAzAAA;7@A"m֖rA[y@A 1ALk=Aϭ@AoۿA ?Aci*AF9?2Amֽ:A =BAF9?JAmֽRA =٘i)I9[y@YG JاJJJJgF&K YI]~?yW Y]~?yJrOA;@F7'L9B)TBE[[b@[]~?[4[[[[BZYY i) pI_E?irs; E))EjL@:˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040382.503165 s, next control iter: 1743040382.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13881, header.stamp.nsec: 00 temperature: 13.384577* salinity: 33.391693, density: 1025.000000* values[0]: 0.705857F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040382.883165 s.yJ~,M+AA(@A*q@A#_~? AA&"AA vNA"AZAbAjArAzAAAve7@A ھrAaw@A.a<A=A-y@AࡰݿA@(0?A. *A9?2A <ֽ:At=BA9?JA <ֽRAt=٘i)I9w@YG J7JJJJkF&K Y%]~?yDOA F77M9B)[BE[[Xk@[]~?[.[[[[BZYY i) &IE?i}7  *D)) *DM@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040382.903165 s, next control iter: 1743040383.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040383.303165 s._J~,g+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065668< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743040383.303275F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AQ1@A_~? AKAJ&"AA"uNA"AZAbAjArAzAAA2+37@AFrA7 w@AXG<Ay<=A@Al޿A`A?A#ؤ*A 9?2Aiֽ:Ag=BA 9?JAiֽRAg=٘i)I9 w@YhG JJJJJlF&K Y]~?y>NA F7{7O9B)aBE[[@[]~?[(([[[[BZYY i) TID?i2 =B))=BxO@ ĪYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743040383.323165 s, next control iter: 1743040383.703184 s, wait time: 0.380019 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13882., header.stamp.nsec: 0.0 temperature: 13.384825.* salinity: 33.391701., density: 1025.000000.* values[0]: 0.704686.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040383.723165 s. J~,I+AAz@AD@A_~? A1A?&"AAuNA"AZAbAjArAzAAA$5Lx6@AˆVrAv@A>;A=A@A'߿Ȃ?Ax䜼*A9?2Aֽ̿:AR1<BA9?JAֽ̿RAR1<٘i)I9v@YG JJJJJnF&K YQx]~?y8INA F)7ŧ7Q9)eB[[\| @[Ŭ]~?[}"[[[[BZYY i) fY?I|D?i~', A))A Q@jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040383.743165 s, next control iter: 1743040384.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040384.143165 s.W/J~, * +AJ"J*J2J:JBJnJvJA ףp=@A@1d0@Ai^~? A3Ak9&"AAuNA"AZAbAjArAzAAATv6@AH2:rAv@ArǻAL=Ay@A߿A@??Ak*A9?2A׽:Aq:<BA9?JA׽RAq:<٘i)I9v@YG J&JJJJoF&K Yc]~?y2MA F777QS9B)kBE[[Y"@[b]~?[ [[[[BZYY i) W|ID?iys$ ?))?R@AYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743040384.163165 s, next control iter: 1743040384.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040384.563165 s.J~,V $+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065668< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743040384.563325F (some fields omitted in printout)A3333s@AU&f@A^~? ARAk&"AAťuNA"AZAbAjArAzAAAip6@AlfrA۝u@A9WA=A#@A`IAb?A&*A9?2A4׽:A~<BA9?JA4׽RA~ YM]~?y=-MA@F{7j7U9B)rB޹E[[#@[o{]~?[[[[[BZYY i) ))->T@ȺYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040384.583165 s, next control iter: 1743040384.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13883, header.stamp.nsec: 00 temperature: 13.385090* salinity: 33.391712, density: 1025.000000* values[0]: 0.703614F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040384.983165 s.J~,>+AJ"J*J2J:J 4?BJ 4?nJ<5vJA\@A@AT^~? AzA4&"AAsuNA"AZAbAjArAzAAA1=(]6@A4rA (u@A{YA<=A @A`Aq?A*A9?2A׽:A <BA9?JA׽RA <٘i)I9(u@Y5G J?JJJJrF&K YP7]~?y'0MAF{7V9)uB[[%@[,b]~?[[[[[BZYY i) wID?i"t> |<))|<U@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040385.003165 s, next control iter: 1743040385.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040385.403165 s.&J~,Y+AAQ@A鷯@A^~? AtA&"AAnuNA"AZAbAjArAzAAA 3 $6@A4 rAt@AһA"ʅ=Aa!@A zA`4=?A<̈*A9?2Aֽ:A5_<BA9?JAֽRA5_<٘i)I9t@YG J[JJJJsF&K Y!]~?yk"LAFX9 B){B۹E[[ &@[H]~?[ [[[[BZYY i) ۻIhD?ij0 :)):4*W@DYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040385.423165 s, next control iter: 1743040385.803179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13884", header.stamp.nsec: 0"0 temperature: 13.385306"* salinity: 33.391720", density: 1025.000000"* values[0]: 0.702634"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040385.823165 s.J~,2t+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076222< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743040385.823294F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A'jin@A^~? A`oA&"AARuNA"AZAbAjArAzAAAl=;5@A 忥rAgAt@A'w;Aqo=A"@AIA@?A׊*A9?2A?ֽ:A<BA9?JA?ֽRA<٘i)I9At@YG J8JJJJtF&K Y ]~?yzLAF777|Z9"B)BعE[[(@[.]~?[ [[[[BZYY i) AIiD?i4_ Uo9))Uo9`X@yYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743040385.843165 s, next control iter: 1743040386.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040386.243165 s.#J~,i+AAףp=J@Aa1=@An^~? AiAf&"AA5uNA"AZAbAjArAzAAAƚ5@A䮦nrrAs@AD<Aq=A#@A@ݙA`p?A*A9?2ANֽ:Aq=BA9?JANֽRAq=٘i)I9s@YaG JċJJJJvF&K Yj\~?yLAF{7{7G\9)B[[')@[]~?[[[[[BZYY i) : I"D?iQ< A7))A7t5Z@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040386.263165 s, next control iter: 1743040386.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040386.663165 s.*J~,q+AJ"J*J2J:J3?BJ3?nJ[<5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13885, header.stamp.nsec: 00 temperature: 13.385553* salinity: 33.391724, density: 1025.000000* values[0]: 0.701685F (some fields omitted in printout)A@A^r@A^~? AdA&"AAuNA"AZAbAjArAzAAA%#u5@AV'8rATs@A~d<A4=A4%@A@]A ]?AfЎ*A9?2AYֽ:A=BA9?JAYֽRA=٘i)I9Ts@YG JJJJJwF&K Y\~?y2KAF^9#B)BչE[[t+@[\~?[g[[[[BZYY i) ID?iMBk f6))f6[@ۼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040386.683165 s, next control iter: 1743040387.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040387.083165 s.D1J~,R+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076222< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743040387.083304F (some fields omitted in printout)A)\µ@A@Ak^~? A_A5&"AAtNA"AZAbAjArAzAAAwU85@AQrAr@A+ <A@=A&@A 7A ԟ?AZ(*A9?2Aֽ:AA=BA9?JAֽRAA=٘i)I9r@YG JJJJJxF&K Y\~?y iKAF7)7_9'B)BѹE[[Q,@[\~?[g[[[[BZYY i) ,I+D?i07u 4))4:]@SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040387.123165 s, next control iter: 1743040387.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040387.503165 s.7J~,L4+AJ"J*J2J:JBJnJvJAR@A#fy@AfW^~? AzZAZ&"AAtNA"AZAbAjArAzAAAfp!4@AQbrA fr@AӫAx=A'@AA ?A*A9?2Aֽ:Aj =BA9?JAֽRAj =٘i)I9fr@YG JzJJJJzF&K Y\~?y`KAF77a9)B[[Z-@[\~?[[[[[BZYY i) b;ID?iUɻ e3))e3^@1ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040387.523165 s, next control iter: 1743040387.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13886, header.stamp.nsec: 00 temperature: 13.385773* salinity: 33.391735, density: 1025.000000* values[0]: 0.700713F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040387.923165 s.>>J~,+AA{G!@A0/>@AB^~? AUAz&"AAtNA"AZAbAjArAzAAAC8S4@ACdrAq@AY+A=A8)@AA?A{*A9?2A'6׽:A=BA9?JA'6׽RA=٘i)I9q@Y@G JhJJJJ{F&K Y6\~?yJAF77rc9(B)BιE[[fo/@[\~?[[[[[BZYY i) AKI\zD?im꠮  1)) 16`@~ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040387.963165 s, next control iter: 1743040388.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040388.343165 s.rAFyq@AfA8=A*@A`AQ?AK*A9?2A7׽:A{=BA9?JA7׽RA{=٘i)I9yq@YG JzJJJJ|F&K Y\~?yXJAFj7j7 Yk\~?yIA+@F77g9+B)BȹE[[;S2@[w\~?[[[[[BZYY i)  jInD?i4Ӿ+ j.))j.K+c@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040388.783165 s, next control iter: 1743040389.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040389.183165 s.RJ~,kK+AJ"J*J2J:JBJnJvJA(\@AU@A^~? AGAG&"AA[tNA"AZAbAjArAzAAA7x43@AvrAK~p@AA]=An-@AǠA?Az*A{9?2Aֽ:Ao{ =BA{9?JAֽRAo{ =٘i)I9~p@Y^G JJJJJF&K Y@R\~?yIAF{7Z7h9)B[[3@[\\~?[{[[[[BZYY i) \?yIoiD?imu z-))z-d@6ЪYFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743040389.203165 s, next control iter: 1743040389.583180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040389.603165 s.=4YJ~,Țf+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076222< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743040389.603284F (some fields omitted in printout)AQ@ARE@A]~? ANCAd&"AA:tNA"AZAbAjArAzAAAİط3@AoيrAo@Axs<ADa=AV.@A@A&?A-*Aɶ9?2AFֽ:A=BAɶ9?JAFֽRA=٘i)I9o@Y G J`JJJJF&K Y8\~?y,IAF7777j9-B)BŹE[[;5@[^A\~?[[[[[BZYY i⍮) k;IdD?igpW e,))e,Pf@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040389.623165 s, next control iter: 1743040390.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13888 , header.stamp.nsec: 0 0 temperature: 13.386248 * salinity: 33.391739 , density: 1025.000000 * values[0]: 0.698766 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040390.023165 s.Z`J~,{+AJ"J*J2J:JBJnJvJAHz. @A! @A]~? A?A&"AAtNA"AZAbAjArAzAAAt3@A4 UErAJio@Aκd<Aٚ=A۝/@A AW%?A *Av9?2A/ֽ:AkO=BAv9?JA/ֽRAkO=٘i)I9io@YG JcJJJJF&K Y\~?yHA F{7gl90B)BE[[Ѭ6@[+&\~?[ [[[[BZYY i) ֋IaD?i;4 χ*))χ*g@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040390.043165 s, next control iter: 1743040390.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040390.443165 s.7fJ~,>]+AAq= c @AdV @AV]~? A:AG &"AAsNA"AZAbAjArAzAAA*M03@AǫƅrAn@AA<AH=A@0@A Q^A@R?A|*A9?2A_ֽ:A=BA9?JA_ֽRA=٘i)I9n@Y^G JJJJJF&K Y>\~?ydHA!F772n91B)BE[[8@[ \~?[[[[[BZYY i) -rI%^D?i\# ))))%i@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040390.463165 s, next control iter: 1743040390.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13889, header.stamp.nsec: 00 temperature: 13.386516* salinity: 33.391743, density: 1025.000000* values[0]: 0.697662F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040390.863165 s.+mJ~,>+AJ"J*J2J:J2?BJ2?nJF;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743040390.863309F (some fields omitted in printout)A @A @A]~? A 7AX&"AAsNA"AZAbAjArAzAAAf.2@A^rAJn@Asf;A5B=AF2@A#A@Qz?A>t*Aª9?2Aֽ:A=BAª9?JAֽRA=YD$@K2@yA=#g;ٓHNֿ59?2`;?4ó@\l??)D$@ IӕI٘i)I9Jn@YG JJ32<JJJF&K3x> Y[~?y GAK2@#F)7ŧ7o93B)BE[[ʋ9@[s[~?[m[[[[BZYY i) 횼I[D?i9 '))'j@y4r٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040390.883165 s, next control iter: 1743040391.263181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040391.283165 s.2RtJ~,+AA(\ @AB]P @A]~? A@3Ax&"AAsNA"AZAbAjArAzAAAd#;2@Asj rA̼m@A3)ٻA池=A@3@A@A?A*A9?2A׽:A=BA9?JA׽RA=٘i)I9m@YG JJJJJF&K YR[~?yGA$F7777q91B)ïB[[:@[[~?[gߧ[[[[BZYY i) bhIYD?iu e%&))e%&Pk@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040391.303165 s, next control iter: 1743040391.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13890., header.stamp.nsec: 0.0 temperature: 13.386814.* salinity: 33.391731., density: 1025.000000.* values[0]: 0.696535.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040391.703165 s.պzJ~, +AJ"J*J2J:JP2?BJP2?nJ:5vJAQ!@A6 @A~{]~? A/AE&"AAsNA"AZAbAjArAzAAAh_2@A+@F~rA.m@A/YAF=Ab4@A`C A`?A*A9?2A06׽:Af=BA9?JA06׽RAf=٘i)I9.m@YZG J2B=JJJJF&K Yٶ[~?yߧ%GA%F77s92B)ɯBE[[g<@[Y[~?[ݧ[[[[BZYY i) 橼I zXD?i z @im $)) $ om@ YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743040391.743165 s, next control iter: 1743040392.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743040392.123165 s.7J~,]+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743040392.123281F (some fields omitted in printout)AG:!@A{j-!@Ad]~? A,A/3 &"AAlsNA"AZAbAjArAzAAA&2@AYxb|rAl@A+SA՛=A.D6@A?A?A*A9?2A-׽:AD=BA9?JA-׽RAD=٘i)I9l@YG JC=JJJJF&K Ye[~?yܧFA'Fŧ7b7\u94B)ϯBE[[=@[[~?[ۧ[[[[BZYY i) l_IXD?i, k =#))=#-n@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040392.163165 s, next control iter: 1743040392.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040392.543165 s.IJ~,"+AJ"J*J2J:JBJnJvJA= ףp!@A|ԗc!@AiL]~? A(A4v &"AAIsNA"AZAbAjArAzAAAN&1@A4zrAl@AxA)=A7@AlqAX?A|*A9?2Aֽ:Ax=BA9?JAֽRAx=٘i)I9l@YG JJJJJF&K Y[~?y٧QFA(F77j7'w95B)կBE[[ 9?@[[~?[ڧ[[[[BZYY i) ڸIjXD?i<9 !))!Sp@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040392.563165 s, next control iter: 1743040392.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13891, header.stamp.nsec: 00 temperature: 13.387074* salinity: 33.391735, density: 1025.000000* values[0]: 0.695430F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040392.963165 s.xJ~,=+AAffff!@A.\!@A4]~? A%AV &"AA%sNA"AZAbAjArAzAAA)%Έ1@AWxrA=hk@A;AO=A8@A A)?A8*A9?2AFֽ:Ao=BA9?JAFֽRAo=Y*@8@y}O=.;ٓH5п?@!?n/Ur??)*@ I٘i)I9hk@YFG JJ΅<JJJF&Kw> Yf[~?yקEA8@)F77x96B)ۯBE[[k@@[e[~?[O٧[[[[BZYY i) X%IUYD?is=.:  [ )) [ q@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040393.003165 s, next control iter: 1743040393.363178 s, wait time: 0.360013 sf[~?)ק rAdjusting time to match Gazebo time: 1743040393.383165 s.ؕJ~,4X+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: -0.085232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743040393.383276F (some fields omitted in printout)A(!@A8G!@A|]~? A"A &"AAsNA"AZAbAjArAzAAA 8?1@ANvrA$j@A3J<A=A :@AA@I?Aɼ*A79?2A ֽ:Aa=BA79?JA ֽRAa=٘i)I9j@YG JżJJJJF&K YRK[~?y]էiEA+F77{7z97B)BE[[ B@[LJ[~?[Dا[[[[BZYY i) oǼIZD?i=: ))4s@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040393.403165 s, next control iter: 1743040393.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13892&, header.stamp.nsec: 0&0 temperature: 13.387362&* salinity: 33.391743&, density: 1025.000000&* values[0]: 0.694196&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040393.803165 s.{AJ~,gs+AA"@A27"@A<]~? AA-!&"AA3rNA"AZAbAjArAzAAA^|R0@A`8 urAwj@A'a<A/=AT;@A A@f?Aμ*A09?2Aֽ:ASF=BA09?JAֽRASF=٘i)I9j@YxG Jb̼JJJJF&K Y0[~?y'ӧDA,Fŧ7b7|9)B[[qC@[.[~?[kק[[[[BZYY i) iμI]D?i&>: |))|t@$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040393.843165 s, next control iter: 1743040394.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040394.223165 s.gJ~,H+AJ"J*J2J:JBJnJvJAzG"@A :"@A\~? AA$e!&"AAQrNA"AZAbAjArAzAAADB<0@A*`srA7hi@A<A5w=A<@A["A?Aϼ*Az9?2Alֽ:Aq=BAz9?JAlֽRAq=٘i)I9hi@YG JqϼJJJJF&K Y[~?yЧDA-Fb77R~98B)BE[[ D@[x[~?[֧[[[[BZYY i) ּI)`D?iSc>|; +))+v@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040394.263165 s, next control iter: 1743040394.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040394.643165 s.tЩJ~,)+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743040394.643286F (some fields omitted in printout)A ףp}"@A,fp"@A/\~? AAAd!&"AA)rNA"AZAbAjArAzAAA7a0@AqrAh@AA`=A>@AIA`)?Aμ*A9?2Aֽ:AD=BA9?JAֽRAD=٘i)I9h@Y G J}ϼJJJJF&K YdZ~?yΧDA/F79:B)BE[[5F@[PZ~?[K֧[[[[BZYY i) yPݼI dD?i>~<; ɡ))ɡ}w@tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13893, header.stamp.nsec: 00 temperature: 13.387689* salinity: 33.391735, density: 1025.000000* values[0]: 0.692879F (some fields omitted in printout)uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040394.663165 s, next control iter: 1743040395.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040395.063165 s.J "J *J 2J :J `1?BJ `1?J~nJ95vJ,c +AA3333"@AQ("@Ah\~? AA!&"AAlrNA"AZAbAjArAzAAAbf~0@A]OprA\ h@A'y2Aj=A`?@AnAP?AHμ*A9?2AQ׽:A=BA9?JAQ׽RA=YJ1@!Q?@y=)3ٓH`@Jÿ=W?Wd? UoO`?)J1@ I٘i)I9 h@Y: G JμJ <JJJF&K=x> YZ~?yeͧCAQ?@0F777灿9;B)BE[[jG@[Z~?[֧[[[[ZZ¸BZYY i¸4=) *KѼIhD?iɧ>V; q6))q6Dx@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040395.083165 s, next control iter: 1743040395.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040395.483165 s._J~,+AA\"@At "@Az\~? AA!&"AAGrNA"AZAbAjArAzAAA Ε/@A6nrA^g@ApeA=A@@AA@8x?AZ"м*Ap9?2A׽:AbR=BAp9?JA׽RAbR=٘i)I9^g@Y G JμJJJJF&K YZ~?y̧CA1F{7{79mu; ))Sz@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040395.503165 s, next control iter: 1743040395.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13894, header.stamp.nsec: 00 temperature: 13.388032* salinity: 33.391754, density: 1025.000000* values[0]: 0.691551F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040395.903165 s.ȽJ~,+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: 0.4200032 time: 1743040395.903301F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ#@Aѯ#@Ah\~? AnA#"&"AA6!rNA"AZAbAjArAzAAAX.@A mrAf@Ak ANǭ=AA@A`~A?As*A9?2A'ֽ:A <BA9?JA'ֽRA <٘i)I9f@YZ G JJJJJF&K Y¥Z~?yʧBA3F7}9=B)BE[[ZJ@[}Z~?[է[[[[ZZBZYY i) ??IsD?iU>_; b))b{@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040395.923165 s, next control iter: 1743040396.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040396.323165 s.uJ~,!+AAGzT#@A|rG#@A8o\~? AyAK"&"AA$qNA"AZAbAjArAzAAAH e.@Au olrAe@A#;Aח=A;C@A A`P?AB*AW9?2Aֽ:An<BAW9?JAֽRAn<٘i)I9e@Y G JaJJJJF&K YZ~?yeɧ,BA4F7777G9)BE[[mK@[Z~?[=֧[[[[ZZBZYY i) 8IkzD?i>5Y; ))4&}@yy=~ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040396.343165 s, next control iter: 1743040396.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13895*, header.stamp.nsec: 0*0 temperature: 13.388358** salinity: 33.391750*, density: 1025.000000** values[0]: 0.690071*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040396.743165 s.WJ~,y/+AJ"J*J2J:J0?BJ0?nJ=95vJAףp=#@A5}#@AU\~? AA]p"&"AAqNA"AZAbAjArAzAAAJ-@AܗVkrAd@AA<Aۇs=A~D@A A`?A*A9?2A]ֽ:AVm<BA9?JA]ֽRAVm<٘i)I9d@YS G JNJJJJF&K YmZ~?yȧAA5F779>B)BE[[`M@[pZ~?[֧[[[[ZZBZYY i) 2ID?i?r; ))3~@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040396.763165 s, next control iter: 1743040397.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040397.163165 s.x}J~,qJ+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: 0.4199592 time: 1743040397.163291F (some fields omitted in printout)A#@A#@A{<\~? A A"&"AAqqNA"AZAbAjArAzAAAe1-@AVjrAt*d@AV<A.=AE@AA?AhӼ*AĪ9?2A{_ֽ:A ;BAĪ9?JA{_ֽRA ;Y'7@IE@y.=W<ٓH ]2`s?8B?ҥ@ي??)'7@ I٘i)I9*d@Y G JJ ܽJJJF&Kw> YQZ~?yǧyAAE@7F77{7݊9)B[[oN@[UZ~?[Jק[[[[ZZBZYY i=) WkITD?iG?'2; f+))f+O@vuYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040397.183165 s, next control iter: 1743040397.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040397.583165 s.J "J *J 2J :J t0?BJ t0?nJ 95vJ J~,"Se+AA)\#@AX歺#@A"\~? A A"&"AAՇqNA"AZAbAjArAzAAAF,@A|koirA܅c@A<(<AF<AG@A6A]8?A"'*AL9?2Agֽ:AA̺BAL9?JAgֽRAA̺٘i)I9c@Yy G JüJJJJF&K Y~5Z~?y+ǧ>AA8F779?B)#BE[[O@[9;Z~?[ا[[[[ZZBZYY i) 9I>D?i%?; ))v@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040397.603165 s, next control iter: 1743040397.983183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13896, header.stamp.nsec: 00 temperature: 13.388734* salinity: 33.391750, density: 1025.000000* values[0]: 0.688534F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040398.003165 s.x J~,L4+AAR+$@AVy$@AQ \~? A= A&"&"AAaqNA"AZAbAjArAzAAA'!(+@A`3bhrApc@A::A. <AfH@A+A`೼?A x*A9?2AWֽ:A1BA9?JAWֽRA1٘i)I9c@Y+ G JJJJJF&K Y?Z~?yƧAA9FZ7SI7r9@B)'BE[[%Q@[ Z~?[ ٧[[[[ZZBZYY i) xۀID?i3?V; U_))U_0`@TYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743040398.023165 s, next control iter: 1743040398.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040398.423165 s.uJ~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074192< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743040398.423287F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga$@A ;T$@A[~? A A|"&"AA&:qNA"AZAbAjArAzAAA\4_+@A%i|grA_b@AAAmHA>A?A.{*A9?2A"1ֽ:A~BA9?JA"1ֽRA~٘i)I9b@Y G JQJJJJF&K YY~?yFƧ@A;F77=9)+BE[[r}R@[wZ~?[+ڧ[[[[ZZBZYY ip=) %lIsD?iC?;  )) ]@y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040398.443165 s, next control iter: 1743040398.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13897, header.stamp.nsec: 00 temperature: 13.388999* salinity: 33.391747, density: 1025.000000* values[0]: 0.687466F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040398.843165 s.J~,+AAp= $@Af$@A[~? A A"&"AAqNA"AZAbAjArAzAAApy*@AFPgrA\{b@A cAA"$GANA`1?A*A9?2ACֽ:A˗BA9?JACֽRA˗٘i)I9{b@Y G JJJJJF&K YY~?yŧ@A<F'8#89AB)-BE[[S@[Y~?[tۧ[[[[BZYY i) VID?iU?2< ) ))) Â@yaǗ=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040398.883165 s, next control iter: 1743040399.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040399.263165 s.J~,+AJ"J*J2J:J/?BJ/?nJw85vJA$@AQ?ÿ$@A[~? A@A #&"AApNA"AZAbAjArAzAAAA&*@AR}frAehb@ANAYtAEA@7[A`f?Ai*A9?2AG&ֽ:AҼBA9?JAG&ֽRAҼYH>@EyqOٓH``L?p;?@奔i`h?@Q݉@?)H>@ I٘i)I9hb@Y G J4J8JJJF&Kw> YyY~?yFƧ@AE>F7b7ғ9).BE[[A*U@[aY~?[ܧ[[[[BZYY i`m=) /EID?i`?W< 5 ))5 t@y=g4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040399.283165 s, next control iter: 1743040399.663176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13898., header.stamp.nsec: 0.0 temperature: 13.389117.* salinity: 33.391750., density: 1025.000000.* values[0]: 0.687067.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040399.683165 s.lJ~,g+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057954< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743040399.683314F (some fields omitted in printout)A(\%@AG$@A [~? AA#&"AApNA"AZAbAjArAzAAA7,)@AefrApb@AOA4AZDAFeA %?AѾW;*Ab9?2Agֽ:AmBAb9?JAgֽRAm9٘i)I9pb@Y G J:JJJJF&K Y8Y~?yƧ@A?Fj7Z79BB)E[[VV@[Y~?[ާ[[[[BZYY iQ=) 3ID?ivm?< s ))s %@y/٪=r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040399.683165 s, next control iter: 1743040400.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743040400.103165 s.,J~,+AJ"J*J2J:JBJnJvJAQ8%@A%VF+%@A[~? AA &#&"AAwpNA"AZAbAjArAzAAAH(@AkfrAb@AHϨ;AZA0CA mAq?AGB;*A9?2Aֽ:ABA9?JAֽRA٘i)I9b@Y G J;JJJJF&K YY~?y+ǧAA@Fb77g9)E[[7W@[Y~?[X[[[[BZYY i) e"IUD?i{? D!< s))sՄ@yXf=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040400.123165 s, next control iter: 1743040400.503192 s, wait time: 0.380027 s rAdjusting time to match Gazebo time: 1743040400.523165 s.J~,{!+AAHzn%@AJ_a%@An[~? AA.#&"AA vpNA"AZAbAjArAzAAACN(@A9erAb@AUJ<A2xAKAA-rAU?A:,<*AA9?2ARֽ:ABAA9?JARֽRA٘i)I9b@Y G Jo<JJJJF&K YoY~?yǧDAABF7729CB),B}E[[%Y@[Y~?[H[[[[BZYY i) ID?i?ɬ+< ))@yԌ=<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040400.563165 s, next control iter: 1743040400.923180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13899, header.stamp.nsec: 00 temperature: 13.389140* salinity: 33.391739, density: 1025.000000* values[0]: 0.687225F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040400.943165 s.XdJ~,B]<+AJ"J*J2J:J/?BJ/?nJy85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743040400.943307F (some fields omitted in printout)Aq= ף%@Ac͖%@A"T[~? AA3#&"AANpNA"AZAbAjArAzAAAAׂ'@AkierA#c@AQS<A됈A*@A tAi?A]<*Af9?2Akֽ:Ax BAf9?JAkֽRAx ٘i)I9#c@Y= G JC<B=JJJJF&K YlSY~?yȧrAACF79)*B[[5tZ@[lY~?[][[[[BZYY i) 43I%D?i?17< ))4@%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040400.963165 s, next control iter: 1743040401.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040401.363165 s.J~,p>W+AA%@A%@A#:[~? AA5#&"AA['pNA"AZAbAjArAzAAAd'@AݤerAc@A;AA-H?AtA{AZ<*A?9?2Alֽ:ABA?9?JAlֽRAYD@O?yV;ٓH@{? DZ?_ÿ\C‘?@?? .z??)D@ I٘i)I9c@Y{ G Js<C=JJJJF&Kw> Y7Y~?yfɧAAO?DF7777Ȝ9)'BzE[[[@[SY~?[[[[[BZYY im=) I E?i?K>< Z))Z@b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040401.383165 s, next control iter: 1743040401.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13900&, header.stamp.nsec: 0&0 temperature: 13.389019&* salinity: 33.391739&, density: 1025.000000&* values[0]: 0.687797&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040401.783165 s.]J~,r+AJ"J*J2J:J0?BJ0?nJ85vJA(\&@AP&@A% [~? AA`4#&"AAoNA"AZAbAjArAzAAAŹFu&@AL˽erAd@AWAA >A@grA@A<*A.9?2A0ֽ:A BA.9?JA0ֽRA ٘i)I9d@Y G J6<JJJJF&K YY~?yʧ6BAFF{7{79DB)#BwE[[]@[;Y~?[[[[[BZYY i) »IE?i? F< g))g@$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040401.803165 s, next control iter: 1743040402.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040402.203165 s.#J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058019< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743040402.203326F (some fields omitted in printout)AQE&@A:W8&@A+[~? AA/#&"AAoNA"AZAbAjArAzAAAIo%@Aޫ frAd@A;A^IA+<AmAAL|<*Aš9?2A%ս:ApBAš9?JA%սRAp٘i)I9d@Y G JM<JJJJF&K YX~?y̧BAGF77]9)BtE[[b^@["Y~?[[[[[BZYY i) ?zIB)E?i_?LO< }))}>@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040402.223165 s, next control iter: 1743040402.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040402.623165 s.[)J~,m+AJ"J*J2J:JBJnJvJAGz&@A1]m&@A7Z~? A}Ao(#&"AA9oNA"AZAbAjArAzAAA d:%@ARם:XfrAT#e@A;_A|Ay;ALgA!A<*AȢ9?2Aֽ:AVBAȢ9?JAֽRAV٘i)I9#e@Yu G J<JJJJF&K YX~?yhͧBAHF7777(9)BqE[[Ѭ_@[ Y~?[?[[[[BZYY i) 焻I;E?i?AZ< I))I@ym=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040402.643165 s, next control iter: 1743040403.023181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13901 , header.stamp.nsec: 0 0 temperature: 13.388846 * salinity: 33.391743 , density: 1025.000000 * values[0]: 0.688728 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040403.043165 s.0J~,+AA= ף&@A0&@ALZ~? A!A#&"AAoNA"AZAbAjArAzAAAF;:$@AQ elevatorAngleAction: 0.058019< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200542 time: 1743040403.463370F (some fields omitted in printout)Affff&@AZ&@AlZ~? AA#&"AAboNA"AZAbAjArAzAAA U$@AS9grAYf@Avi:ADA8A`RA`纴A<*A9?2Aֽ:ABA9?JAֽRAYLK@ 8y@𚽙=j:ٓHR<?`? c п*W?MY?`n=M??)LK@ I٘i)I9Yf@Y1 G J]<J,(JJJF&Kx> YX~?yЧCA8KF779)BlE[[X@b@[?X~?[[[[[BZYY i)  mIbE?i?ol< 6))6'B@>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040403.483165 s, next control iter: 1743040403.863180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13902, header.stamp.nsec: 00 temperature: 13.388610* salinity: 33.391712, density: 1025.000000* values[0]: 0.689829F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040403.883165 s.y=J~,<+AA('@AsK!'@AZ~? A A"&"AA{;oNA"AZAbAjArAzAAAj#c#@A ݖgrAaf@AI#<AcAOs7A@sDA@A<*A9?2A׽:ABA9?JA׽RA٘i)I9f@Y G J[<JJJJF&K Y2X~?y,ӧ,DALF{7j79) B[[c@[X~?[&[[[[BZYY iZ=) nI`wE?il?u< ))@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040403.903165 s, next control iter: 1743040404.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040404.303165 s.RDJ~,fg+AJ"J*J2J:J0?BJ0?nJU95vJAQ'@AGD'@AڄZ~? A A"&"AAeoNA"AZAbAjArAzAAAы"@A+ hrAg@A c<AoAl!6A3A`fbA0<*A9?2AU ׽:ABA9?JAU ׽RA٘i)I9g@Y G JG<JJJJF&K YuX~?ybէDANFb77R9)BiE[[]d@[֬X~?[b[[[[BZYY i) IE?i?I~< ))@F*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040404.323165 s, next control iter: 1743040404.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13903., header.stamp.nsec: 0.0 temperature: 13.388387.* salinity: 33.391716., density: 1025.000000.* values[0]: 0.690972.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040404.723165 s.KJ~,H.+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067068< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198732 time: 1743040404.723264F (some fields omitted in printout)Az'@Aaz'@A-kZ~? AV As"&"AAknNA"AZAbAjArAzAAAU+"@AMirA)h@A6,<A䏽A.4A i A A@Σ<*A9?2Ayֽ:ABA9?JAyֽRA٘i)I9h@Y; G J<JJJJF&K YZX~?yקDAOF779)BfE[[jf@[/X~?[[[[[BZYY i) Ҽ:IE?i?P< ))0-@5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040404.743165 s, next control iter: 1743040405.123180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040405.143165 s.[/RJ~J"J,*I+A*J2J:J1?BJ1?nJ95vJA ףp'@A;Mf'@AQZ~? A A"&"AAnNA"AZAbAjArAzAAA-ː!@AD[1jrAxh@AF:A֌A3A A6A<*A<9?2Aֽ:ATBA<9?JAֽRAT٘i)I9h@Y G J><JJJJF&K Y8?X~?y٧dEAPF7謿9)BcE[[Xg@[X~?[5[[[[BZYY i) :I*E?i?< ))wΌ@y$X=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040405.183165 s, next control iter: 1743040405.543181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743040405.563165 s.XJ~,[ d+AA3333'@A_`V('@A8Z~? AjAƙ"&"AA۟nNA"AZAbAjArAzAAA:%@ @Ads.krAi@A ?A(AKR2AAYÿA?<*A?9?2ARֽ:A~?BA?9?JARֽRA~?Y:Q@[I2y';ٓHDC?e?:?ֿ TH?A?Շ?):Q@ I٘i)I9i@Y G J<Jٟ<JJJF&K/x> Y$X~?yܧEAI2RF779)B`E[[h@[iX~?[[[[[BZYY i) f;IE?i?Y< [y))[yq@Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040405.583165 s, next control iter: 1743040405.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13904, header.stamp.nsec: 00 temperature: 13.388186* salinity: 33.391720, density: 1025.000000* values[0]: 0.692009F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040405.983165 s._J~,~+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067068< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J dt: 0.419979*J2J2 time: 1743040405.983312F (some fields omitted in printout):JBJnJvJA\((@A@x(@AZ~? A1Ax"&"AAMynNA"AZAbAjArAzAAAj]\ @AX2DlrA)i@AL]A4‡Ay 1A6AſAZ<*A9?2ABֽ:AVBA9?JABֽRAV٘i)I9i@Y1G Jo<B=JJJJF&K Y? X~?yߧFASFb77}9)B]E[[i@[SX~?[[[[[BZYY i) r\;IcE?ie?< c))c뿩@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040406.023165 s, next control iter: 1743040406.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040406.403165 s.&fJ~,͙+AAQ^(@AX%Q(@AwZ~? A!AT"&"AARnNA"AZAbAjArAzAAAi{oi@A,wsmrA!j@AAAA/A`-A`ǿAЕ<*Ap9?2AOnֽ:ABAp9?JAOnֽRA٘i)I9!j@YG J6<C=JJJJF&K YW~?yzFATF7777H9)BZE[[%k@[.>X~?[| [[[[BZYY i) 45;IF?i?< 'l))'l鿩Ѵ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040406.423165 s, next control iter: 1743040406.803176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13905&, header.stamp.nsec: 0&0 temperature: 13.387997&* salinity: 33.391716&, density: 1025.000000&* values[0]: 0.693019&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040406.823165 s.lJ~,2+AJ"J*J2J:Ji1?BJi1?nJ:5vJAGz(@Ao(@AVY~? A:A]-"&"AA,nNA"AZAbAjArAzAAA̯U@A elevatorAngleAction: 0.067068< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040407.243304F (some fields omitted in printout)Aףp=(@A$P2(@AZY~? A|A"&"AAnNA"AZAbAjArAzAAAs &@AprAk@A"i;A肽AM -A@yA7˿A=<*Ar9?2A' ׽:AF BAr9?JA' ׽RAF 𼙘ҕI٘i)I9k@YG J<JJJJF&K YҺW~?y'4GAWF777ݵ9)BWE[[am@[KX~?[[[[[BZYY ix=) 9;I8F?i@?b͠< p))p俩@G*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040407.283165 s, next control iter: 1743040407.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040407.663165 s.zJ~,q+AJ"J*J2J:J1?BJ1?nJH:5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13906, header.stamp.nsec: 00 temperature: 13.387815* salinity: 33.391670, density: 1025.000000* values[0]: 0.693959F (some fields omitted in printout)A)@A+(@AY~? AAu!&"AAmNA"AZAbAjArAzAAAga@A:vqrAk@AR<AWvA+A>TAͿA 7<*A9?2A,׽:ACBA9?JA,׽RACYbTX@3+ysx6S<ٓH` S?SQ?`8ܿK@R?K?@X? ?)bTX@ I٘i)I9k@YUG J<J<JJJF&K;x> YyW~?y GA+XF779CB)BTE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #88q/X^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) ;)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040407.683165 s, next control iter: 1743040408.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040408.083165 s.DJ~,S+AA)\5)@AZ()@AۡY~? AyAܤ!&"AAxmNA"AZAbAjArAzAAATo@A'srA{k@AR<AAtj*A,AmοAL}<*A79?2A_׽:AQBA79?JA_׽RAQ򼙘٘i)I9k@YG J<JJJJF&K Y!W~?yGAZF7s9)BRE[[#p@[GW~?[[[[[BZYY i)  elevatorAngleAction: 0.076604< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201572 time: 1743040408.503455F (some fields omitted in printout)ARk)@A|^)@AbY~? A>Ahp!&"AAѿAN<*A:?2A\/ý:A2lBA:?JA\/ýRA2l٘i)I9l@YG J<C=JJJJF&K YnUW~?yHA\F779)ݯB[[vr@[W~?[&[[[[BZYY i) [r$ elevatorAngleAction: 0.076604< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743040409.763287F (some fields omitted in printout)A *@A)@A@Y~? AO(AK &"AA'mNA"AZAbAjArAzAAA݆4@A% azrAm@AbAAaA&AإA@ҿAT<*A:?2Aǽ:Af BA:?JAǽRAf Yi]@,&y]bٓHfd?ݰ?`atzӗ?`6?C ?)i]@ I٘i)I9m@YG J<J<JJJF&KE> Y#W~?y"HIA&_F)7)79BB)կBIE[[u@[̝W~?[p/[[[[BZYY i) C elevatorAngleAction: 0.076604< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743040411.023333F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz*@AF*@AX~? A{2Aj &"AAXlNA"AZAbAjArAzAAAJB@Aj薀rA&o@A8<AfA4"A`/AuԿA<*A:?2Arн:Ay BA:?JArнRAy ٘i)I9&o@YG J6<JJJJF&K YV~?ycJAcFŧ7b7ſ9)ȯBCE[[wx@[tgW~?[.>[[[[BZYY i) q+AJ"J*J2J:J2?BJ2?nJ?;5vJA+@AB +@AOX~? A9Ads&"AAtlNA"AZAbAjArAzAAA{虤@AD*h(rA3'p@A,<AҙAZ ApAֿA<*Ar:?2A,vӽ:A~ BAr:?JA,vӽRA~ Y<d@Y yЙ1-<ٓHD$?X?4 K?q5?`{?@s?)<d@ I٘i)I9'p@Y)G JϚ<B=J JJJF&Kw> Y7V~?yy)KA fF7{7ɿ9AB)B>E[[J{@[EW~?[pH[[[[BZYY i) R: elevatorAngleAction: 0.085840< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743040412.283275F (some fields omitted in printout)A(\O+@AHPB+@AX~? A=A'&"AARlNA"AZAbAjArAzAAAya2 @AY0rA[p@AY:AeA#A5pA@ih׿A<*A@d:?2AQ2Խ:A((BA@d:?JAQ2ԽRA((٘i)I9p@Y|G J<C=JJJJF&K YV~?yKAgFZ7SI7]˿9)B[[S|@[\4W~?[M[[[[BZYY i) Eď elevatorAngleAction: 0.085840< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040413.543294F (some fields omitted in printout)A= ף+@A+@AqX~? AJAl4&"AA-kNA"AZAbAjArAzAAAa ؕ@AVQk8QrAgr@A[DA]A"A AٿA1<*A?:?2Aս:A;_BA?:?JAսRA;_٘i)I9gr@YG J<JJJJF&K YQV~?y-LAkF777п9)B[[@[W~?[][[[[BZYY i) cA2yA jA@ڿA2<*A4:?2Aֽ:ABA4:?JAֽRAY+j@jsyW>.ڌٓH|wH?3?Ԫ? ?q@L?)+j@ I٘i)I9s@YG Jĸ<JeJJJF&K.|> Y elevatorAngleAction: 0.085840< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743040414.803288F (some fields omitted in printout)A,@Alބ,@A1X~? AXA(&"AALkNA"AZAbAjArAzAAAF|@AkїrAE=t@AM<AeA A A-ܿA<*A!:?2A9s׽:A+BA!:?JA9s׽RA+٘i)I9=t@YG J <JJJJF&K YaV~?yc?NAoF77ֿ9)B[[@[7V~?[n[[[[BZYY i) mP@[5V~?[t[[[[BZYY i) *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040415.243165 s, next control iter: 1743040415.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040415.643165 s.wJ~, *+AA ףp,@A,f,@AX~? A{bAYi&"AArKkNA"AZAbAjArAzAAAU?AR}rA^u@Ai;ASԲAy+A>AvݿApB<*A:?2A$׽:AUBA:?JA$׽RAU٘i)I9u@YnG J<JJJJF&K YU~?yNKNArFb7ٿ9>B)B,E[[`@[V~?[hz[[[[BZYY i)  elevatorAngleAction: 0.085840< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743040416.063311F (some fields omitted in printout)A33333-@AF(&-@AW~? AgA&"AA,kNA"AZAbAjArAzAAAqf D?AM rAs3v@AbA۴AAA`\f޿Ao<*A:?2Aֽ:AbBA:?JAֽRAbY3q@yt۴cٓH! ? \B? "7?Q?银?@.[l`?)3q@ I٘i)I93v@YG J@<JEpJJJF&Ky> Y'U~?yQtOAsF777~ۿ9?B)B.E[[{@[EV~?[U[[[[BZYY i) 7MB)B*E[[@[QV~?[O[[[[BZYY i) {BZYY i¸>) hp Y{U~?yasQA\ zF77{7s9.B)^B%E[[xc@[rV~?[[[[[ZZZZBZYY i) ,9-B)VB"E[[@[}gV~?[館[[[[ZZZZBZYY i) q))>5@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040419.463165 s, next control iter: 1743040419.823177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13918, header.stamp.nsec: 00 temperature: 13.384931* salinity: 33.391525, density: 1025.000000* values[0]: 0.708141F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040419.843165 s.5vJAL/@A?/@A9@W~? AšA&"AArjNA"AZAbAjArAzAAA0YA0brA),}@A4&OAΏ;AA ܿA@ǁAC<*A9?2A '׽:A{<BA9?JA '׽RA{JJJF&Kx> Y,U~?ySSAFb77i9,B)BBE[[C@[P?V~?[F[[[[ZZZZBZYY i7Q~) F*c5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743040421.103289F (some fields omitted in printout)U~?)OAQ/@A{E/@A W~? AA&"AAdiNA"AZAbAjArAzAAAL(lAsirA}@AC"eAk =Ay;A>kۿA{Abr:*A99?2Aֽ:A1<BA99?JAֽRA1<٘i)I9}@YQG J';JJJJF&K YU~?yASAFb779+B)?BE[[i@[w-V~?[B˨[[[[BZYY i) s=^R<A\=AZAٿA`A3*A 9?2ACRֽ:A0=BA 9?JACRֽRA0=٘i)I9\}@Y4G J&JJJJF&K YT~?yI0SAFŧ7b79)@BE[[i@[DV~?[Oب[[[[BZYY i) N+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743040422.363293F (some fields omitted in printout)AY0@ABL0@ANV~? A©A#&"AA"iNA"AZAbAjArAzAAAD ||A]9rA }@AR<A{=AA ٿAA;*A9?2Aeֽ:A =BA9?JAeֽRA =Yb@"y< {=1S<ٓHbٿ8?Ǣ,.(ڿ H \CY?@?)b@ I٘i)I9}@Y G JCB=J>JJJF&Kyw> Y8T~?yWRAFS77^9*B)ABE[[`@[V~?[ި[[[[BZYY iFi) T~?ypΨ3RAF{7j79)GB[[@@[V~?[3[[[[BZYY i) k;Iiv@= ))b@{ɪYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743040423.223165 s, next control iter: 1743040423.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040423.623165 s.WyJ~,]+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057127< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743040423.623293F (some fields omitted in printout)AG0@A 0@AV~? AשAڍ&"AAgiNA"AZAbAjArAzAAAv \ABhorA{@A:A>=AAэֿAA\䕼*A9?2A J׽:A,3 =BA9?JA J׽RA,3 =٘i)I9{@YMG JJJJJF&K YT~?y|֨QAFb7b79)B)JBE[[э@[lV~?[[[[[BZYY ixK) ";Iiy@V= 3s))3s@y]j4ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040423.643165 s, next control iter: 1743040424.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13922 , header.stamp.nsec: 0 0 temperature: 13.384847 * salinity: 33.391460 , density: 1025.000000 * values[0]: 0.708930 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040424.043165 s.J~,+AA= ף01@A0#1@AiV~? AީA&"AATiNA"AZAbAjArAzAAA (A!rA!^{@AZiXA =AA@޴տAA)u*A9?2AA׽:A =BA9?JAA׽RA =٘i)I9^{@YG J̛JJJJF&K YBT~?yިQAF7{79)NB[[`@[yU~?[[[[[BZYY i)  ;Ii|@ != 4))4@y$yjSժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040424.063165 s, next control iter: 1743040424.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040424.463165 s.VJ~,+AJ"J*J2J:J`5?BJ`5?nJ/>5vJAfffff1@A[[Y1@AV~? AAw&"AABiNA"AZAbAjArAzAAA#-GAH.rAqz@AEA 3=AZA@BԿA AѨ*A9?2Aֽ:A =BA9?JAֽRA =Y&@y1=ʧٓHӿi?SnQ@'ӿ-_`@?)&@ I٘i)I9z@YG JJ=JJJF&K_x> YvT~?y!QAFb77S9)SB[[3@[U~?[=[[[[BZYY i) f;Ii}@Ѝ"= ))򃿩.@yx֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040424.483165 s, next control iter: 1743040424.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13923, header.stamp.nsec: 00 temperature: 13.385063* salinity: 33.391460, density: 1025.000000* values[0]: 0.708082F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040424.883165 s.yJ~,D8+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066550< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743040424.883300F (some fields omitted in printout)A(1@A Y@T~?yOAF7777I9)iBE[[@[U~?["[[[[BZYY i) ^Ii@ )= ~q))~q@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040426.583165 s, next control iter: 1743040426.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13925, header.stamp.nsec: 00 temperature: 13.385512* salinity: 33.391407, density: 1025.000000* values[0]: 0.706054F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040426.983165 s.J~,+AJ"J*J2J:J4?BJ4?nJ=5vJA\2@A 2@AxV~? AA &"AA8hNA"AZAbAjArAzAAA.̗Arn sA`w@A@ A=AAS'ϿA*A)*A9?2AD׽:A<BA9?JAD׽RA<٘i)I9`w@YG JAC=JJJJF&K Y:T~?yNAFŧ7b7 9)mB[[.M@[nU~?[([[[[BZYY i) IiƄ@)= m))m)o@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040427.023165 s, next control iter: 1743040427.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040427.403165 s.&J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066550< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743040427.403326F (some fields omitted in printout)AQ2@A5l2@AtpV~? APA2&"AAhNA"AZAbAjArAzAAA\CA$ysAv@A߿A SͿARA;a*Am9?2AU׽:A><BAm9?JAU׽RA><٘i)I9v@Y>G JIJJJJF&K Y4|T~?y)"SNAF77 9)qB[[ے@[U~?[/[[[[BZYY i) T@Ii@+= ]h))]h@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040427.443165 s, next control iter: 1743040427.803182 s, wait time: 0.360017 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13926", header.stamp.nsec: 0"0 temperature: 13.385747"* salinity: 33.391411", density: 1025.000000"* values[0]: 0.705099"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040427.823165 s.J~,-+AJ"J*J2J:J4?BJ4?nJF=5vJAGz3@AWXp3@AhV~? A"AM &"AAhNA"AZAbAjArAzAAA:~AbIsAXv@A8A=AǧܿA;˿AwAᙼ*A{9?2Ag,׽:A)<BA{9?JAg,׽RA)<٘i)I9Xv@YG JJJJJF&K Y.vT~?y*MAF)7ŧ7 9)uB[[Fj@[U~?[o6[[[[BZYY i) [}Ii@x,= d))dA@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040427.843165 s, next control iter: 1743040428.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040428.243165 s.J~,u+AAףp=J3@A0=3@A0aV~? A)AoR &"AAhNA"AZAbAjArAzAAApeuF A2sAu@AYA4=AڿAɿAA2ߙ*AO9?2A/ֽ:A.<BAO9?JA/ֽRA.<٘i)I9u@YG JJJJJF&K Y(pT~?y]3MAFb77t9)yBE[[@[U~?[8=[[[[BZYY i) bIi@G.= ݮ_))ݮ_@2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040428.263165 s, next control iter: 1743040428.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040428.663165 s.J~,q*+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066550< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743040428.663302F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13927, header.stamp.nsec: 00 temperature: 13.385960* salinity: 33.391392, density: 1025.000000* values[0]: 0.704240F (some fields omitted in printout)A3@AMr3@AQZV~? A1A &"AAIhNA"AZAbAjArAzAAA})+ AKsA:Vu@A*;A=A׿A@ǿA A?w*A9?2ARֽ:A<BA9?JARֽRA YlT~?y<.MA׿Fj7Z7>9'B)}BE[[@[)U~?[D[[[[BZYY i) _Ii]@.= m:[))m:[@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040428.683165 s, next control iter: 1743040429.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040429.083165 s.DJ~, SE+AA)\µ3@A"33@ASV~? Ag9A " &"AA7hNA"AZAbAjArAzAAA+V AP_4!sAt@AO<A=A տAƿAAA*A9?2Axֽ:Ab<BA9?JAxֽRAb<٘i)I9t@YG J#JJJJF&K YiT~?yDLAF7777 9)B[[@[U~?[J[[[[BZYY i) [ۻIi@>/= V))V6@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040429.103165 s, next control iter: 1743040429.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040429.503165 s.J~,D4`+AJ"J*J2J:JBJnJvJAR3@A[z3@ANV~? AGAA &"AAhNA"AZAbAjArAzAAAƆm A [%sA9Vt@AI<Aχ=A(nҿA&ĿA`Ac*AT9?2Aֽ:A=BAT9?JAֽRA=٘i)I9Vt@YG JJJJJF&K YfT~?yMtLAFŧ7b79)B[[@[U~?[Q[[[[BZYY i) XIi@7.0= mWR))mWRĮ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040429.523165 s, next control iter: 1743040429.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13928, header.stamp.nsec: 00 temperature: 13.386172* salinity: 33.391380, density: 1025.000000* values[0]: 0.703358F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040429.923165 s.J~,{+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201442 time: 1743040429.923434F (some fields omitted in printout)A{G!4@A=4@AHV~? A1IA &"AAghNA"AZAbAjArAzAAAD@= Aѷ*sAs@A7;Aʇ=AϿA)D¿A A*A_9?2Aֽ:A=BA_9?JAֽRA=٘i)I9s@YkG JJJJJF&K YfcT~?y_VLAF77{79(B)BE[[0@[5U~?[X[[[[BZYY i) ũ Ii@Z1= M))MR@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040429.943165 s, next control iter: 1743040430.323288 s, wait time: 0.380123 s rAdjusting time to match Gazebo time: 1743040430.343165 s.{=AeʿA輿Av6A*A9?2ATX׽:A =BA9?JATX׽RA =Yl@ʿyx=J@ٓHA?z? a SK`, ?)l@ I٘i)I9r@YG JEB=J"JJJF&KXx> Y_T~?yg]KAʿFŧ7b749)B[[ǿ["U~?[$f[[[[BZYY i) u+Iiڋ@ 3= E))EEYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040430.783165 s, next control iter: 1743040431.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040431.183165 s.J~,g+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743040431.183273F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\4@Af4@A;V~? AaAt &"AAhNA"AZAbAjArAzAAAW, A3P9sAɄr@AKTA=AǿA`A@GA/*A9?2AWE׽:A=BA9?JAWE׽RA=٘i)I9r@YG JC=JJJJF&K Y_T~?ypKAF77{79)BE[[Ŀ[U~?[l[[[[BZYY i) $;Ii;@3= c@))c@c@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040431.203165 s, next control iter: 1743040431.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040431.603165 s.A4J~,ؚ+AAQ4@AByG4@A8V~? AiA&"AAQ~hNA"AZAbAjArAzAAA]x A5>sA#r@A AV=A9ſA`RAAVA*A9?2Aֽ:A+=BA9?JAֽRA+=٘i)I9r@YSG J׊JJJJF&K YB_T~?yyJAFb7b79,B)B[[ä¿[U~?[s[[[[BZYY i) JIǐ@94= 9<))9<9<ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040431.623165 s, next control iter: 1743040432.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13930 , header.stamp.nsec: 0 0 temperature: 13.569750 * salinity: 33.374996 , density: 1025.000000 * values[0]: 0.575448 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040432.023165 s.ZJ~,|+AJ"J*J2J:JP?BJP?nJx5vJAHz.5@Akծ !5@A5V~? A)qAZ&"AAyhNA"AZAbAjArAzAAA0A'm^ AbooCsAq@A3f;A1B=A7¿A䎱AMbA_*A9?2Aֽ:A6 =BA9?JAֽRA6 =٘i)I9q@YG JґJJJJF&K Y^T~?yZFJAFŧ79)B[[Sp[U~?[z[[[[BZYY i) ,#ZIi@.5= 7))772ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040432.063165 s, next control iter: 1743040432.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040432.443165 s.9J~,F]+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743040432.443282F (some fields omitted in printout)Aq= c5@A}zlV5@A3V~? A6yAJF&"AA vhNA"AZAbAjArAzAAA4d A@HsAq@AH ,<Aq=A&.A*A@kA@*A9?2A~aֽ:A =BA9?JA~aֽRA =٘i)I9q@YG JJJJJ F&K Y^T~?y(IAF77^!9)B[[c=[U~?[G[[[[BZYY i) iIi{@`6= j3))j3j3~̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040432.483165 s, next control iter: 1743040432.843180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13931, header.stamp.nsec: 00 temperature: 13.570007* salinity: 33.374985, density: 1025.000000* values[0]: 0.574894F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040432.863165 s.+ J~,>7+AJ"J*J2J:JBJnJvJA5@A/ꏌ5@A!2V~? AFA&"AAshNA"AZAbAjArAzAAA4Rn A~A@]sAw*A9?2AC_ֽ:A'f=BA9?JAC_ֽRA'f=Yv@Nyy=\<ٓH? r?9{@d? :в??)v@ I٘i)I9p@YhG J Jg<JJJ F&Kx> Y-aT~?y퓩IAyFb7)#9)BE[[[U~?[ [[[[BZYY i) xIi@!j6= /))//?ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040432.903165 s, next control iter: 1743040433.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040433.283165 s.9RJ~,R+AA(\5@ANP5@A0V~? AXAp &"AAphNA"AZAbAjArAzAAA:K A@QsAp@AY1\6@A1V~? AA&"AAkphNA"AZAbAjArAzAAA^ AdesAQm@Af0A~=ABUA@}?ArA{*A9?2A׽:ADN=BA9?JA׽RADN=Y@pyޟ=0ٓH e? !g?@u?`nP? ?)@ I٘i)I9m@YG JJ/<JJJF&K:x> YpT~?yGApF{7j7,9-B)BE[[ [-U~?[[[[[BZYY i) :0IiS@8= ?))??y㯽۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040434.983165 s, next control iter: 1743040435.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040435.383165 s.5J~,'+AJ"J*J2J:J?BJ?nJ5vJA(6@A0.6@AV3V~? AA"&"AAMrhNA"AZAbAjArAzAAA.d= A|^)jsAQm@A&A)=AЭA" ?AjA$*A9?2AIֽ:A`=BA9?JAIֽRA`=٘i)I9Qm@YpG JJJJJF&K Y.vT~?yFȩGAF77{7-9)ïB[[׮[hU~?[*[[[[BZYY i) Ii^@w8= ?))??ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040435.403165 s, next control iter: 1743040435.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13934", header.stamp.nsec: 0"0 temperature: 13.570785"* salinity: 33.374989", density: 1025.000000"* values[0]: 0.572973"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040435.803165 s.uAV~? AѪA&"AAhNA"AZAbAjArAzAAAN[5. Ar%~sAj@A4;A =A6vA "?A 2Aü*AŸ9?2AKֽ:AYi=BAŸ9?JAKֽRAYi=Y2@hy=Ǡ;ٓH`u}?`? =?'؇?;t??)2@ I٘i)I9j@YG JüJz<JJJF&K9x> YT~?ycEAhF{7j759)ׯB[[s[U~?[gʩ[[[[BZYY i) NǼIiH@9=  ))  YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040437.083165 s, next control iter: 1743040437.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040437.483165 s._WJ~,^+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085914< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743040437.483301F (some fields omitted in printout)A\7@Aّ7@ABV~? A٪A%"AAhNA"AZAbAjArAzAAAH& Aoo5IsAU6j@AᯞA =AA?AfAj%ļ*A9?2A׽:A=BA9?JA׽RA=٘i)I96j@YG JüJJJJF&K YT~?yDAFb7769/B)ݯBE[[ߣ[V~?[Щ[[[[BZYY i) μIi&@39= _))__YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040437.503165 s, next control iter: 1743040437.883183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13936, header.stamp.nsec: 00 temperature: 13.571331* salinity: 33.374989, density: 1025.000000* values[0]: 0.571519F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040437.903165 s.]J~,y+AJ"J*J2J:JBJnJvJAQ8@A 8@AGV~? AAL%"AAChNA"AZAbAjArAzAAAAp AؾЇsAi@AۯDA=A%A?AAż*AƗ9?2A2׽:Av=BAƗ9?JA2׽RAv=٘i)I9i@Y'G JļJJJJF&K YT~?yr{DAF77{789)B[[c[U V~?[Xש[[[[BZYY i) ռIi4@~9= ֙))֙֙^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040437.923165 s, next control iter: 1743040438.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040438.323165 s.udJ~,!+AAGzT8@AzrG8@ALV~? AAű%"AAhNA"AZAbAjArAzAAAc:/6 A!|sAVh@A^RA'=AsA3?A[Aʼ*A-9?2AT׽:Al=BA-9?JAT׽RAl=٘i)I9h@Y G JǼJJJJF&K YT~?yDAF{7j7t:9)B[[}[V~?[ݩ[[[[BZYY i) (ݼIip@):= N))N뾩N(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040438.343165 s, next control iter: 1743040438.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13937*, header.stamp.nsec: 0*0 temperature: 13.571626** salinity: 33.374996*, density: 1025.000000** values[0]: 0.570755*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040438.743165 s.WkJ~,y+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085914< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743040438.743307F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=8@Av2}8@AjRV~? A}A%"AAhNA"AZAbAjArAzAAA: AlzԍrsA(=h@AԌAI=A阿A?AAм*A9?2Aоֽ:ADF=BA9?JAоֽRADF=ЕI٘i)I9=h@YX G JͼJJJJF&K YET~?yH CAF777?<9)B[[oL[%V~?[![[[[BZYY i) pIiܑ@s:= ))㾩YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040438.763165 s, next control iter: 1743040439.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040439.163165 s.w}rJ~,q+AA8@Ag{8@AXV~? ASAN~%"AAhNA"AZAbAjArAzAAA L0 AOۦ:sAϊg@A.;AY=AmkAAn?AgAؼ*A9?2A'Vֽ:A=BA9?JA'VֽRA=Ys@cy/=9.;ٓH? "?O?jhe?`Hȶe?v?)s@ I٘i)I9g@Y G JNԼJ65<JJJF&Kw> Y&T~?yeCAcFZ7SI7 >91B)B!E[[ [ V~?[v[[[[ZZ¸BZYY i¸b=) aؼIi_@:= nPھ))nPھnPھYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040439.183165 s, next control iter: 1743040439.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040439.583165 s.xJ~,R+AJ"J*J2J:JBJnJvJA)\8@AM8@A__V~? AA%"AAhNA"AZAbAjArAzAAAeۣq A k SsARf@A1<A=A蓿A`z??AA޼*AK9?2Asֽ:AF=BAK9?JAsֽRAF=٘i)I9f@Y{ G JۼJJJJ F&K YT~?yBA EFŧ77?9)B[[꘿[X(V~?[[[[[ZZBZYY i) XP̼Ii@9= ƋѾ))ƋѾƋѾ9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040439.603165 s, next control iter: 1743040439.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13938, header.stamp.nsec: 00 temperature: 13.571932* salinity: 33.374989, density: 1025.000000* values[0]: 0.569963F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040440.003165 s. J~,v4+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083685< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743040440.003301F (some fields omitted in printout)AR+9@A({9@AfV~? AAM%"AAJhNA"AZAbAjArAzAAAJuAжsAf@A3Z<A=ATAO?A@pAP*A 9?2Aֽ:A=BA 9?JAֽRA=٘i)I9f@Y G JJJJJ"F&K YT~?y$#BAFb7A9)B[[w[x0V~?[[[[[ZZBZYY i) @Ii@p9= &Ⱦ))&Ⱦ&ȾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040440.023165 s, next control iter: 1743040440.403187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743040440.423165 s.uJ~,{+AJ"J*J2J:JBJnJvJA{Ga9@Ax-;T9@AWnV~? AA'%"AAhNA"AZAbAjArAzAAAޯA{isAM!e@A( <AG=AA@?A`KAz*A'9?2APֽ:A,<BA'9?JAPֽRA,<٘i)I9!e@Ys G JJJJJ#F&K YT~?y,AAF{7j7iC92B) B$E[[%[8V~?[;[[[[ZZBZYY i) ?2Ii@K9= ))yũ=|ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040440.443165 s, next control iter: 1743040440.823175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13939", header.stamp.nsec: 0"0 temperature: 13.572280"* salinity: 33.375000", density: 1025.000000"* values[0]: 0.569051"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040440.843165 s.݌J~,5+AAp= 9@A9@AvV~? A4AN!%"AAhNA"AZAbAjArAzAAA?A0 >sA;Id@A[AGu=AAg?A 7%AI*A9?2Aֽ:Acf<BA9?JAֽRAcf<٘i)I9Id@Y G JB=JJJJ$F&K YT~?y4.AAF774E9)B%E[[V[AV~?[f[[[[ZZBZYY i) b IiB@P9= :)):: YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040440.883165 s, next control iter: 1743040441.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040441.263165 s.J~,P+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083685< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743040441.263289F (some fields omitted in printout)A9@Aο9@AQV~? AAt%"AAhNA"AZAbAjArAzAAAt*jA΃7ǶsA2c@A'Af1=AYAA??A`A̼*AW9?2AZֽ:A;BAW9?JAZֽRA;Y@:hy 1=:'ٓH ̀??tK?  ? ;ℿ?)@ I٘i)I9c@Y{ G JC=J߽JJJ&F&Kgw> Y$T~?y<@AhF{7{7F93B)B(E[[$[JV~?[ [[[[ZZBZYY icS=) wVIi@9= 6s))6s6sxYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040441.283165 s, next control iter: 1743040441.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 139402, header.stamp.nsec: 020 temperature: 13.5726532* salinity: 33.3750152, density: 1025.0000002* values[0]: 0.5680852F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040441.683165 s.lJ~,Nk+AA(\:@A5%Y9@AV~? AV'A%"AAhNA"AZAbAjArAzAAASp +A ]PsAb@AmA<AYAw$?AA1ĥ*AӶ9?2Avֽ:A8BAӶ9?JAvֽRA8٘i)I9b@Y G JZB=JJJJ'F&K YU~?yZD@AFj7j7H9)B[[_[lTV~?[[[[[ZZBZYY i) qIi!@}8= ƥ))ƥƥYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040441.683165 s, next control iter: 1743040442.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743040442.103165 s.J~,Ú+AJ"J*J2J:JBJnJvJAQ8:@AbE+:@AJV~? A.Ae%"AAqhNA"AZAbAjArAzAAAs_̞AJ)sA#nb@At<At<Ak*A?AtA!z*A9?2Aqoֽ:A?BA9?JAqoֽRA?٘i)I9nb@Y G J̔C=JJJJ(F&K Y!U~?yL|@AFŧ7b7J9) B[[[H^V~?[[[[[ZZBZYY i) Ii׏@8= ֜))֜֜rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040442.123165 s, next control iter: 1743040442.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040442.523165 s.J~,|+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073401< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743040442.523326F (some fields omitted in printout)AHzn:@Ada:@AV~? A<6Af%"AA iNA"AZAbAjArAzAAAQ]A5hsA+b@A35A ,AA?A8wA{0*A9?2Afֽ:AtBA9?JAfֽRAt٘i)I9b@Y G JZJJJJ*F&K YU~?yS@@AF7777_L95B)$B,E[[O[{hV~?[[[[[ZZBZYY iO=) yIi@7= ))yV=G(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040442.563165 s, next control iter: 1743040442.923179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13941, header.stamp.nsec: 00 temperature: 13.572875* salinity: 33.375000, density: 1025.000000* values[0]: 0.567433F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040442.943165 s.YdJ~,F]+AJ"J*J2J:JBJnJvJAq= ף:@A\W̖:@A;V~? A=AD%"AAaiNA"AZAbAjArAzAAA8νԢA(_osAa@A;A`A}Ag?ADEAӻ*A9?2Aֽ:A?7BA9?JAֽRA?7٘i)I9a@Yq G JMJJJJ+F&K Y)U~?y[@AF77*N9)&B[[ U[sV~?[![[[[ZZBZYY i) 8JdIiҏ@8= n4))n4n4y)-=')YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040442.963165 s, next control iter: 1743040443.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040443.363165 s.J~,>+AA:@A|O:@AnV~? ADA%"AA*iNA"AZAbAjArAzAAAH/AXsAa@AU<AӷA1xA ?A[A!*A9?2Aֽ:AKļBA9?JAֽRAKļY@HxyRU<ٓHU ?@j?R`i ?;?@5? ?2?)@ I٘i)I9a@Y] G JݛJ6JJJ,F&K;x> Y9U~?yb0@AxF77{7O96B)(B/E[[![}V~?[w'[[[[BZYY ik=) rRIi@7= ^g))^g^gy=u,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040443.383165 s, next control iter: 1743040443.763176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13942", header.stamp.nsec: 0"0 temperature: 13.572965"* salinity: 33.375023", density: 1025.000000"* values[0]: 0.567181"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040443.783165 s.[J~,+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: 0.057568< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743040443.783292F (some fields omitted in printout)A(\;@A +T;@AV~? ALA'%"AAB elevatorAngleAction: 0.067549< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743040445.043284F (some fields omitted in printout)A= ף;@A_ ;@AV~? ACaAx%"AAetiNA"AZAbAjArAzAAAve?Af"sA2bb@AXSAe'A4dAp?A)Al<*A9?2Ajս:ACBA9?JAjսRAC٘i)I9bb@Y G JWO<JJJJ2F&K YxU~?y @AFW9)%B6E[[ӕx[V~?[r>[[[[BZYY i)  Ii@*5= >))>>?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040445.083165 s, next control iter: 1743040445.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040445.463165 s.UJ~,]+AJ"J*J2J:JBJnJvJAffff;@AZ;@AiV~? A)hA%"AA~iNA"AZAbAjArAzAAAɧ?S6AsAb@Al[YAIA_A?AA6<*Aǚ9?2A ֽ:ABAǚ9?JA ֽRAY44@^y GYٓH@0?@z?@ f?`?@u?`9+?)44@ I٘i)I9b@Y G J<JJJJ3F&Kww> YU~?yĆ?AA^F{7j7X9)"B[[ /t[V~?[D[[[[BZYY ik2k=) d$Ii@/3= |,))|,|,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040445.503165 s, next control iter: 1743040445.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13944, header.stamp.nsec: 00 temperature: 13.572696* salinity: 33.375027, density: 1025.000000* values[0]: 0.567625F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040445.883165 s.yJ~,Qx+AA(<@A5!<@A^V~? AnAy%"AAFiNA"AZAbAjArAzAAA8RAi sA"Gc@AFܻA_AkYA?AA#<*A͜9?2Abֽ:ABA͜9?JAbֽRA٘i)I9Gc@YS G J<JJJJ4F&K YVU~?yAAF777Z99B)B9E[[o[V~?[I[[[[BZYY i) 2tܻIi@2= ))j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040445.903165 s, next control iter: 1743040446.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040446.303165 s.\J~,g+AJ"J*J2J:Ja?BJa?nJq5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057421< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743040446.303276F (some fields omitted in printout)AQ<@ATD<@A W~? AuA%"AAiNA"AZAbAjArAzAAAKAZ$sAc@AW;A5DAETA@k?AudA<*AI9?2Aֽ:A BAI9?JAֽRA ٘i)I9c@Y G J<JJJJ6F&K YU~?y;BAFj7Z7\9:B)B:E[[Xk[V~?[N[[[[BZYY i) ƽIi @2=  ))  *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040446.323165 s, next control iter: 1743040446.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13945., header.stamp.nsec: 0.0 temperature: 13.572403.* salinity: 33.375069., density: 1025.000000.* values[0]: 0.568233.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040446.723165 s.J~,H+AAz<@AÚʢz<@AW~? AQ|Ags%"AAiNA"AZAbAjArAzAAAr'7Ud AB5/sAFUd@A =<AbANA@ 7?A1AL<*A9?2A׽:ANx BA9?JA׽RANx ٘i)I9Ud@Y G J<JJJJ7F&K YU~?yaBAFb77J^9;B)B=E[[7f[KV~?[[T[[[[BZYY i) qIi@1= ))y|k= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040446.763165 s, next control iter: 1743040447.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040447.143165 s.X/J~,*+AJ"J*J2J:J?BJ?nJ5vJA ףp<@AHjd<@A+W~? AقA%"AAiNA"AZAbAjArAzAAAsEBA%C,sAd@A`<AhAIA?ALA<*AH9?2Ay׽:ABAH9?JAy׽RA٘i)I9d@YN G J<JJJJ9F&K YU~?yBAF77`9 elevatorAngleAction: 0.057421< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743040447.563272F (some fields omitted in printout)A3333<@AbQ+<@A;W~? AHA(t%"AA*iNA"AZAbAjArAzAAA YDU~?yЧ)CADF7a9)B[[^[V~?[^[[[[BZYY i) jDIiJ@/= ))񧽩Z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040447.603165 s, next control iter: 1743040447.963181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13946, header.stamp.nsec: 00 temperature: 13.572059* salinity: 33.375061, density: 1025.000000* values[0]: 0.568923F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040447.983165 s.J~,+AJ"J*J2J:JBJnJvJA\(=@A=@AKW~? AAb%"AADjNA"AZAbAjArAzAAAnaؿAi1}sA f@AbAwA҂?A@?AQBAt<*A?9?2Avֽ:AIBA?9?JAvֽRAI٘i)I9 f@Y G J<C=JJJJ;F&K YU~?yCAFj7j7c9) BCE[[ǟY[J W~?[d[[[[BZYY i=) IiR@~.= `))``J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040448.023165 s, next control iter: 1743040448.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040448.403165 s.&J~,+AAQ^=@AQ=@AK\W~? AڕA|%"AA'jNA"AZAbAjArAzAAAnTjǿA{sA,f@A("AARw:AL;?A`A<*Aq9?2Ar?ֽ:ABAq9?JAr?ֽRA٘i)I9f@Y\ G J<JJJJ=F&K YV~?y CAF7777ue9>B) BGE[[.U[W~?[+i[[[[BZYY i) wIi@J~-= A))AA*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040448.423165 s, next control iter: 1743040448.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13947", header.stamp.nsec: 0"0 temperature: 13.571713"* salinity: 33.375061", density: 1025.000000"* values[0]: 0.569671"F (some fields omitted in printout)6V~?)6  rAdjusting time to match Gazebo time: 1743040448.823165 s. J~,64+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743040448.823290F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz=@A4Op=@AF&K Y*%V~?y*^DAFb77?g9)B[[P['W~?[4n[[[[BZYY i) $uIi@غ,= 8))88*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040448.863165 s, next control iter: 1743040449.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040449.243165 s.J~,yO+AAףp==@AU2=@A~W~? AA%"AAJ[jNA"AZAbAjArAzAAA+VH?Am!0sAg@A.(A tA 0AX?AUA;<*A59?2A`|ֽ:A BA59?JA`|ֽRA ٘i)I9g@Y G J<JJJJ?F&K Yw9V~?yHDAF{7{7 i9?B)BJE[[wCL[7W~?[)s[[[[BZYY i) 3:Ii@4,= L))LLy@=ȼ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040449.263165 s, next control iter: 1743040449.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040449.663165 s.J~,qj+AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13948, header.stamp.nsec: 00 temperature: 13.571363* salinity: 33.375050, density: 1025.000000* values[0]: 0.570404F (some fields omitted in printout)A>@A'=@AOW~? AꧫAh%"AAujNA"AZAbAjArAzAAA( >?AtAC@h@AjA?A,*A@20?AA9<*AK9?2Ahֽ:A,BAK9?JAhֽRA,Y#@,*y?еٓH`??`%?s??RV"?)#@ I٘i)I9@h@YZ G J]<J<JJJAF&K8x> YOV~?yŪ EA*F7j9)B[[G[FW~?[x[[[[BZYY i) Ώ:Ii9@s*= ;));;]*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743040449.683165 s, next control iter: 1743040450.063183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743040450.083165 s.D!J~,S+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743040450.083319F (some fields omitted in printout)A)\5>@A$A(>@AoW~? AA%"AAjNA"AZAbAjArAzAAA|~B?A՟UtAh@A}<AKԄATK%A.?A A<*A9?2A׽:ABA9?JA׽RA٘i)I9h@Y G J<JJJJBF&K YeV~?y-˪{EAF7l9@B)BME[[o]C[PVW~?[|[[[[BZYY i) S);Ii@)= M<))M<M<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040450.103165 s, next control iter: 1743040450.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040450.503165 s.'J~,D4+AJ"J*J2J:JBJnJvJARk>@A%Zx^>@AW~? AdA5%"AAjNA"AZAbAjArAzAAAdp?A1tA.i@A^<A8AQA@ ?A`mTAw<*A9?2A+׽:ABA9?JA+׽RA꼙٘i)I9.i@Y G Jω<JJJJCF&K Y|V~?yЪEAFZ7SI7jn9BB)BRE[[>[gfW~?[[[[[BZYY i) @g;Ii'@'= "=))"="=*YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743040450.523165 s, next control iter: 1743040450.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13949, header.stamp.nsec: 00 temperature: 13.571044* salinity: 33.375080, density: 1025.000000* values[0]: 0.571057F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040450.923165 s.7.J~,+AA{G>@Ay<-?>@AW~? AA%"AA jNA"AZAbAjArAzAAA> j?AG2 tAi@A@<AGAAb4?AA߿AN<*A9?2A׽:ABA9?JA׽RA켙٘i)I9i@Y/G J<B=JJJJEF&K YIV~?y֪1FAF7775p9)BUE[[g:[vW~?[([[[[BZYY i=) F!;Iif@&= j=))j=j=h*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040450.943165 s, next control iter: 1743040451.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040451.343165 s.J "J *J 2J :J C?BJ C?nJ ^5vJ <5J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075247< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743040451.343283F (some fields omitted in printout)Ap= >@At>@A W~? AeAt\%"AAjNA"AZAbAjArAzAAAg5,?AbtA j@A)v;AƁA!A=?AC߿AP<*Ae9?2Aֽ:A:BAe9?JAֽRA:𼙘٘i)I9 j@YsG Jf<C=JJJJFF&K Y}V~?y۪FAF{7{7q9)B[[/5[W~?[[[[[BZYY i) =I;IiՁ@0&= `5=))`5=`5=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040451.363165 s, next control iter: 1743040451.743184 s, wait time: 0.380019 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13950*, header.stamp.nsec: 0*0 temperature: 13.570753** salinity: 33.375092*, density: 1025.000000** values[0]: 0.571659*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040451.763165 s.@;J~,E+AA ?@A%r>@AW~? AëAD%"AAIkNA"AZAbAjArAzAAA2F?A=tAr}j@A˻A災AA?A`#޿Av<*A9?2Asֽ:A}HBA9?JAsֽRA}HY@&y恽 ̻ٓH?#?ϴ?Q? :?sy@^?)@ I٘i)I9}j@YG J<J;JJJGF&Kx> Y\V~?y;FAFŧ7b7s9CB)BXE[[Wq1[ZW~?[([[[[BZYY i) ڽ;Ii^@O$=  =)) = =ذ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040451.803165 s, next control iter: 1743040452.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040452.183165 s.BJ~,k +AJ"J*J2J:Jj?BJj?nJ5vJA(\B?@A elevatorAngleAction: 0.075247< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200532 time: 1743040452.603324F (some fields omitted in printout)AQx?@As۾Gk?@AX~? AͫA(%"AA?kNA"AZAbAjArAzAAA 7qT1@AntA^k@ARAMA[`A o?AݿAm<*A9?2ARlֽ:AiBA9?JARlֽRAi٘i)I9^k@Y@G J<JJJJJF&K YV~?yGAFj7j7`w9DB)B^E[[r([W~?[ї[[[[BZYY i) R))t>t>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040452.643165 s, next control iter: 1743040453.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13951 , header.stamp.nsec: 0 0 temperature: 13.570442 * salinity: 33.375111 , density: 1025.000000 * values[0]: 0.572218 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040453.023165 s.ZPJ~,$|A+AJ"J*J2J:J|?BJ|?nJ5vJAHz?@Ae?@Ah+X~? AҫAB%"AA^kNA"AZAbAjArAzAAA<$@AͿ tADk@AŻA0*A A ?AQܿA<*A9?2Amֽ:ABA9?JAmֽRA٘i)I9k@YG Jޅ<JJJJKF&K YW~?yaGAF777*y9)B[[#[W~?[[[[[BZYY i) ^ ))`>`>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040453.043165 s, next control iter: 1743040453.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040453.443165 s.7VJ~,>]\+AAq= ?@AN?@AQ@X~? A׫Af%"AA}kNA"AZAbAjArAzAAAc@Aa6`1tAX>l@AW؀;AuASA s?A͊ۿA쀃<*A}9?2A ׽:ABA}9?JA ׽RA٘i)I9>l@YG J8<JJJJMF&K YW~?y@HAF77z9FB)BbE[[e[W~?[$[[[[BZYY i) ')) &> &>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040453.463165 s, next control iter: 1743040453.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13952, header.stamp.nsec: 00 temperature: 13.570131* salinity: 33.375111, density: 1025.000000* values[0]: 0.572834F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040453.863165 s.+]J~,>w+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075247< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743040453.863283F (some fields omitted in printout)J"J*J2J:JBJnJvJA@@Au @@AUX~? AgܫAK %"AAkNA"AZAbAjArAzAAA+֛"@Aq tAǬl@AXA<A&AAK?A`ڿAP<*A9?2A9׽:ABA9?JA9׽RAY*<@ y}$bA<ٓH?߈?氿Fܿ?@55?"a?*?`?)*<@ I٘i)I9l@Y G Ja<B=J/JJJNF&K,x> Y9W~?yHA F777|9)BeE[[O[W~?[![[[[BZYY i) A7))08>08>P*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040453.903165 s, next control iter: 1743040454.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040454.283165 s.6RdJ~,+AA(\O@@ABOB@@AkX~? AAB%"AADkNA"AZAbAjArAzAAAe೾,@A<^#tAm@A\<AA&A~?AٿA8<*A9?2A)׽:AߝBA9?JA)׽RAߝ٘i)I9m@YOG J<C=JJJJOF&K Y`RW~?yHAF77~9GB)ޯBhE[[`[wX~?[ [[[[BZYY i) HF))J>J>N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040454.303165 s, next control iter: 1743040454.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 139532, header.stamp.nsec: 020 temperature: 13.5698572* salinity: 33.3751302, density: 1025.0000002* values[0]: 0.5734362F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040454.703165 s.ӺjJ~,+AJ"J*J2J:JBJnJvJAQ@@Ax@@AX~? AWAX%"AAkNA"AZAbAjArAzAAAw= @A*ԿI&tAcm@A<AA׾A@{?A-(ٿA <*A9?2Aֽ:A|BA9?JAֽRA|٘i)I9m@YG J<B=JJJJQF&K YkW~?yXIAFb77U9)گB[[[>X~?[ܫ[[[[BZYY i) F2V))`\>`\>Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040454.723165 s, next control iter: 1743040455.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743040455.123165 s.EqJ~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075247< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743040455.123305F (some fields omitted in printout)AG@@A}^ԭ@@AX~? AA1%"AAZlNA"AZAbAjArAzAAABU @Af >(tA n@A ߺA꥓A;A?ASZؿA"<*A|9?2Aֽ:AQ BA|9?JAֽRAQ ϕI٘i)I9 n@YG JȒ<C=JJJJRF&K YW~?yIAFŧ7b79)ׯBkE[[oG [L)X~?[[[[[BZYY i =) Re))!o>!o>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040455.143165 s, next control iter: 1743040455.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040455.543165 s.IxJ~,+AJ"J*J2J:JBJnJvJA= ף@@A0@@AZX~? AA0%"AA"lNA"AZAbAjArAzAAA( ^t@A!g+tA n@A,AϕAlþA [O?A:׿A*h<*A9?2A@ֽ:ArZBA9?JA@ֽRArZ٘i)I9n@Y1G J;<JJJJSF&K Y4W~?yJAF779HB)ӯBnE[[[))@>@>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040455.563165 s, next control iter: 1743040455.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13954, header.stamp.nsec: 00 temperature: 13.569499* salinity: 33.375156, density: 1025.000000* values[0]: 0.574049F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040455.963165 s.z~J~,+AAffff&A@AmYA@AX~? AAb%"AADlNA"AZAbAjArAzAAAL@A/-tAo@AbA*ߗA|A?AmֿA <*A9?2A;ֽ:AiBA9?JA;ֽRAiYb}@_ytۗ7bٓH/? ?|ֿ?6??B@?)b}@ I٘i)I9o@YG J<J0rJJJUF&Kw> YW~?y yJAF)7b79)ϯBqE[[,[PX~?[[[[[BZYY i) #))lj>lj>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040455.983165 s, next control iter: 1743040456.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040456.383165 s.؅J~,Y+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084299< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743040456.383323F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\A@AlOA@AX~? AAo%"AAflNA"AZAbAjArAzAAAp+JEb@AL-0tAo@An!AaKA设A@?A@QտAk<*A9?2A5yֽ:AJBA9?JA5yֽRAJ٘i)I9o@YG J<JJJJVF&K YW~?y JAFj7Z79)˯BtE[[9[cX~?[#[[[[BZYY i) A))!>!>yS=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040456.403165 s, next control iter: 1743040456.783180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13955", header.stamp.nsec: 0"0 temperature: 13.569153"* salinity: 33.375141", density: 1025.000000"* values[0]: 0.574760"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040456.803165 s.xAJ~,g3+AAA@A A@AX~? A<A%"AAolNA"AZAbAjArAzAAA+-z@AKn2tA(p@A»JAAA?A տAX<*A9?2A5ֽ:AsBA9?JA5ֽRAs٘i)I9(p@Y*G J<JJJJWF&K YrW~?yEKAF77{7J9JB)ɯBuE[[[wX~?[t[[[[BZYY i) ~F))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040456.823165 s, next control iter: 1743040457.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040457.223165 s.gJ~,HN+AJ"J*J2J:JBJnJvJAzA@A࢓A@A^ Y~? AA%"AAlNA"AZAbAjArAzAAA;L5@AJ]4tAıp@Af]<A+AWQAs2?A"ԿAV<*AФ9?2A("׽:AW0BAФ9?JA("׽RAW0٘i)I9p@Y~G J<JJJJYF&K YX~?y5KAF779)ůBxE[[[X~?[[[[[BZYY i) ט)) D> D>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040457.243165 s, next control iter: 1743040457.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040457.643165 s.vЙJ~,*i+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084299< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743040457.643284F (some fields omitted in printout)A ףpA@A/dA@A Y~? A,A))A>A>*YFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13956, header.stamp.nsec: 00 temperature: 13.568786* salinity: 33.375153, density: 1025.000000* values[0]: 0.575488F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743040457.663165 s, next control iter: 1743040458.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040458.063165 s.J~,[ +AJ"J*J2J:JS?BJS?nJ{5vJA33333B@A_`V(&B@A8Y~? AjAY%"AA%lNA"AZAbAjArAzAAAb1@AA8tAq@A:y8<AfAaA!?A,bҿA&<*A9?2Aֽ:ABA9?JAֽRAY,@لyac9<ٓH ? \?%Ҵ]п 2?G? ƴ?`?@u?),@ I٘i)I9q@Y*G J<JaJJJ[F&K!x> Y=X~?yLAلF77779)B~E[[xھ[۴X~?[ƪ[[[[BZYY i) ǧ))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040458.083165 s, next control iter: 1743040458.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040458.483165 s.w_J~,+AA\hB@Ab1[B@APY~? AAc%"AA`mNA"AZAbAjArAzAAA_~kx@ApT҇:tAUcr@A3F;AeAtA?A@ ѿA o<*A9?2Aֽ:AWBA9?JAֽRAW٘i)I9cr@YG J-<JJJJ]F&K YXX~?yLAF{7Z7u9TB)BE[[DѾ[X~?[ɪ[[[[BZYY i) &))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040458.503165 s, next control iter: 1743040458.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13957, header.stamp.nsec: 00 temperature: 13.568391* salinity: 33.375164, density: 1025.000000* values[0]: 0.576213F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040458.903165 s.ȭJ~,͹+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084299< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743040458.903281F (some fields omitted in printout)J"J*J2J:JBJnJvJAQB@A B@AiY~? Ar A\%"AA))%>%>.*YFFF]: Waiting for Gazebo time sync: latest Gz time: 1743040458.943165 s, next control iter: 1743040459.303180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040459.323165 s.wJ~,)+AAGzB@A`nB@AgY~? A; AGP%"AAamNA"AZAbAjArAzAAAq E@AN)>tAs@AVA쭽A]LAQ?A|ϿA <*A9?2A ֽ:Au}BA9?JA ֽRAu}٘i)I9s@YKG Ji<C=JJJJ`F&K Y`X~?yYMAF777 9)B[[y[X~?[Ϫ[[[[BZYY i) ))=i>=i>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040459.363165 s, next control iter: 1743040459.723178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13958*, header.stamp.nsec: 0*0 temperature: 13.568006** salinity: 33.375202*, density: 1025.000000** values[0]: 0.577057*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040459.743165 s.WJ~,~+AJ"J*J2J:JBJnJvJAףp= C@Ad3B@AY~? AA0%"AAΆmNA"AZAbAjArAzAAAF^o@Av˂?tA6Rt@AMA[Auv7A??A`ͿA<*A"9?2A/ֽ:AʂBA"9?JA/ֽRAʂ٘i)I9Rt@YG J <JJJJaF&K YX~?y!?NAFb77Օ9)BE[[_[ Y~?[Ѫ[[[[BZYY i) TE))%>%>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040459.783165 s, next control iter: 1743040460.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040460.163165 s.z}J~,q +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084299< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743040460.163303F (some fields omitted in printout)A@C@A+2C@AY~? AXA#%"AA(mNA"AZAbAjArAzAAAcZ-՛@A(I%AtAt@AA}mAu!A6e?A˿AR<*Aތ9?2Ahֽ:ABAތ9?JAhֽRAY@!ylEٓHS|?@)?` ~Ŀ?J?? Iv?)@ I٘i)I9t@YG J,<J.?JJJbF&Kx> YX~?y"NA!F{7{79)BE[[ [Y~?[ Ԫ[[[[BZYY i) ))>>c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040460.183165 s, next control iter: 1743040460.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040460.583165 s.J~,R%+AJ"J*J2J:JBJnJvJA)\uC@AhC@AY~? AA+%"AAmNA"AZAbAjArAzAAA!z@A:BtA}u@A ;A `AG= A?AɿAR<*ANJ9?2Aֽ:AQxBANJ9?JAֽRAQx٘i)I9u@YG J<JJJJdF&K Y_X~?y^$,OAF777j9)BE[[Ӣ[4Y~?[V֪[[[[BZYY i) 7))L>L>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040460.623165 s, next control iter: 1743040460.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13959, header.stamp.nsec: 00 temperature: 13.567544* salinity: 33.375187, density: 1025.000000* values[0]: 0.577951F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040461.003165 s.w J~,H4@+AARC@AS{C@AY~? AAQ%"AAmNA"AZAbAjArAzAAAYd@AN2CtAUv@AmF<AYA.uA@E?A`!ȿA<*AΈ9?2A׽:AOBAΈ9?JA׽RAO٘i)I9Uv@YG Js<B=JJJJeF&K YFX~?y%OAFb7769)BE[[r[JY~?[ت[[[[BZYY i) )) Ѭ> Ѭ> *YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743040461.043165 s, next control iter: 1743040461.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040461.423165 s.uJ~,[+AJ"J*J2J:J?BJ?nJB5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084299< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743040461.423286F (some fields omitted in printout)A{GC@A5 ;C@AY~? AAe%"AAnNA"AZAbAjArAzAAA!݅*@AfLEtA|w@AnY<A+YAýAA?AEƿA<*A9?2A׽:AzBA9?JA׽RAz٘i)I9w@YUG J<C=JQ>JJJfF&K> YY~?y"'PAF779)BE[[ [aY~?[ڪ[[[[BZYY iS+=) 7AKAw?A`YlĿA<*A39?2Aֽ:ABA39?JAֽRA٘i)I9w@YG J<B=JQ>JJJhF&K> Y5Y~?y(PAF7{7˞9)BE[[1[wY~?[ܪ[[[[BZYY i) Xt YRY~?y) QAueF77779SB)BE[[K~z[ލY~?[]ު[[[[ZZZZ¸>BZYY i¸>I) iս:ABAy9?JA>սRA٘i)I9y@YG J<JJJJjF&K YCnY~?y)QAF`9)B[[g[{Y~?[[[[[ZZZZBZYY i) "^<*A9?2Aս:A8nBA9?JAսRA8n٘i)I9{@Y%G J=JJJJnF&K YY~?y*RA F77{79)vBE[[u.[Y~?[d[[[[ZZZZBZYY i) ;+AAYE@ALE@AZ~? AY!A%"AA},oNA"AZAbAjArAzAAAj?#@A8JtA!`|@A$<A4A 7=AS?A rA8H<*A9?2Aս:AeBA9?JAսRAeYIx@5=y4$<ٓH?`樂 U ?\? .r?H?@?)Ix@ I٘i)I9`|@YG J<J=JJJpF&Kt> YY~?y*,SA5= F779)pBE[[o[Z~?[[[[[ZZZZBZYY iD㕽) hW[YF@A2[~? AK#Ap%"AAoNA"AZAbAjArAzAAA< 6&@ALtAZ?~@AE)XA<A2>AAx?AU _?A5q3;*A!9?2Aս:A%<BA!9?JAսRA%y<jCXٓHK?¿'.?z???@v@ k?)@ I٘i)I9?~@YG J;J6>JJJvF&K+u> Y lZ~?y'SAf>F7{79)_B[[ k[wZ~?[s[[[[BZYY iJj) Ե\Av?AE ?A7$Ժ*A9?2Aս:A<BA9?JAսRA<٘i)I9E~@YG JYf:JJJJxF&K Y Z~?yx&SAF)7ŧ7K9)E[[l$[Z~?[[[[[BZYY iҖ) w.KAt?A I?A߻*A9?2A{LԽ:AN<BA9?JA{LԽRAN<٘i)I9*~@YG JCJJJJyF&K Y Z~?y2%SAFb7b79PB)E[[[Z~?[[[[[BZYY i) ¨9An?A`?AI0*A9?2A>Խ:A=BA9?JA>ԽRA=٘i)I9}@YG J JJJJzF&K Y Z~?y#vSAFŧ7ŧ79)`BE[[8[ Z~?[[[[[BZYY i) M"(Aof?A?AFh*A9?2A_Խ:A =BA9?JA_ԽRA =٘i)I9}@YYG J)KJJJJ|F&K YZ~?y"LSAF779OB)cBE[[)<[Z~?[[[[[BZYY i) A@[?A.?AQ*A09?2AJԽ:A=BA09?JAJԽRA=YX9<z>yĎ=d`<ٓH?ο%?`?s ?@m?@Ա?@V?)X9< I٘i)I9/}@YG J|J=JJJ}F&Kt> YtZ~?y RAz>F)7ŧ7u9)eBE[[T=[Z~?[[[[[BZYY i]>i) <+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242843@ elevatorAngleAction: -0.056944< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743040468.983287F (some fields omitted in printout)A\G@A?lG@Ae[~? AI AD%"AA0pNA"AZAbAjArAzAAALk*@AkJ6CJtA|@A;A;=A">A N?A2?A*A9?2A*iս:Ag=BA9?JA*iսRAg=٘i)I9|@YG J&JJJJ~F&K Y[~?y`RAFŧ7b7@9NB)iBùE[[l=[ [~?[p[[[[BZYY i) ;Ii*@PU< dW?)) dW?dW?%ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040469.023165 s, next control iter: 1743040469.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040469.403165 s.&VJ~,Y+AAQG@A+G@A1[~? A7Ai%"AAWqNA"AZAbAjArAzAAA7۠2+@A$ItAn4|@Am>Au4=A.>A??A@?Ab*A9?2AaԽ:AE =BA9?JAaԽRAE =٘i)I94|@YG JZB=JJJJF&K YC.[~?y=,RAF77 9)mB[[z,=[![~?[[[[[BZYY i) ;Ii?{< j\?))j\?j\?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040469.423165 s, next control iter: 1743040469.803179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13968", header.stamp.nsec: 0"0 temperature: 13.564934"* salinity: 33.375328", density: 1025.000000"* values[0]: 0.582550"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040469.823165 s.\J~,:t+AJ"J*J2J:J!?BJ!?nJ`5vJAGzH@AnH@A\~? AA%"AAf+qNA"AZAbAjArAzAAAS+@A HHtA{@Ao<A^=A>AK.?A`?A *A9?2AԽ:Ay=BA9?JAԽRAy=٘i)I9{@Y,G JţC=JJJJF&K YI[~?yQAFŧ7b79)pBƹE[[3=[#:[~?[A[[[[BZYY i) A2;Ii?)< Za?))Za?Za?yiԪY0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040469.843165 s, next control iter: 1743040470.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040470.243165 s.cJ~,i+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056944< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743040470.243261F (some fields omitted in printout)Aףp=JH@An1=H@A\~? AA.%"AAXRqNA"AZAbAjArAzAAAv]uij,@Ax0HtAV{@AfAw=Ap>A`!?A@I$?AK*A9?2Ax_ս:Ai=BA9?JAx_սRAi=٘i)I9{@YG JJJJJF&K Ye[~?ymQA Fb79MB)tBɹE[[zy=[R[~?[m[[[[BZYY i) Do;Ii?_<  f?)) f? f?ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040470.263165 s, next control iter: 1743040470.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040470.663165 s.jJ~,q+AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13969, header.stamp.nsec: 00 temperature: 13.565042* salinity: 33.375351, density: 1025.000000* values[0]: 0.581988F (some fields omitted in printout)AH@AZrH@A!5\~? A A%"AA(yqNA"AZAbAjArAzAAAA!a-@A4GtAz@AA=A^2>A?Am?A୼*A9?2Aqս:A)=BA9?JAqսRA)=YN>7ذ>yX=EٓH@?տ$?@Û?@?K\?@ ,ۂ@?)N> IΕI٘i)I9z@Y~G J+B=J=<JJJF&Kt> Y[~?yQAذ>!F7777k9LB)xB̹E[[' >[>k[~?[w[[[[BZYY i) ej;Ii?}f< k?))Jtwk?k?ZҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040470.683165 s, next control iter: 1743040471.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040471.083165 s.DqJ~, S+AA)\µH@ALP÷H@AN\~? AVA\ %"AAҟqNA"AZAbAjArAzAAA\-@A$*FtA_y@A,9Ax=Ad?>A?Aw?AE*A:?2Aս:A=BA:?JAսRA=٘i)I9y@Y$G JeC=JJJJF&K Y3[~?yPA#Fj769)|BϹE[[7>[[~?[X[[[[BZYY i) K-;Ii>? < p?))݅p?p?UΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040471.103165 s, next control iter: 1743040471.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040471.503165 s.wJ~,L4+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261452@ elevatorAngleAction: -0.065972< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743040471.503269F (some fields omitted in printout)J"J*J2J:JBJnJvJARH@AKyH@Ag\~? AwA(C%"AATqNA"AZAbAjArAzAAAg9.@AVF DtAey@A8I!<A=A>A?A˸?A *A :?2Aӽ:AQ2=BA :?JAӽRAQ2=٘i)I9ey@YG JJJJJF&K Yô[~?y9PA$F{79IB)~BѹE[[p3>[^[~?[[[[[BZYY i) :Ii? <  u?))  u? u?-ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040471.523165 s, next control iter: 1743040471.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13970, header.stamp.nsec: 00 temperature: 13.565210* salinity: 33.375351, density: 1025.000000* values[0]: 0.581422F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040471.923165 s.8~J~,+AA{G!I@A;I@A(\~? AqAi%"AAqNA"AZAbAjArAzAAAfI_.@Ar}ngCtApx@A#e<A{=A >A`?A|?A&D*A#:?2AqԽ:A[<BA#:?JAqԽRA[<٘i)I9x@YqG JIJJJJF&K YU[~?y OA%F7779)B[[G>[[~?[[[[[BZYY i) k]T:Ii?< V{?))V{?V{?êYۅYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040471.943165 s, next control iter: 1743040472.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040472.343165 s.AR?A`[[~?[[[[[BZYY i) (GIi?I< B?))B?B?y ڽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040472.383165 s, next control iter: 1743040472.743178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13971&, header.stamp.nsec: 0&0 temperature: 13.565345&* salinity: 33.375381&, density: 1025.000000&* values[0]: 0.580800&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040472.763165 s.Aq?A?A*A$:?2Amս:AU <BA$:?JAmսRAU  .>y=:ٓH? ۿf?5?B?PB?` Ͱ?^? S?)g> I٘i)I9w@YG JěJCJJJF&Kft> Yf\~?yDOA.>(F77`9GB)B׹E[[p>[<[~?[Eߪ[[[[BZYY i) ǍIiT?ܟs< .?))3w.?.?qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040472.803165 s, next control iter: 1743040473.163181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743040473.183165 s.˒J~,kK+AJ"J*J2J:JBJnJvJA(\I@A?I@A\~? ApA%"AAx^rNA"AZAbAjArAzAAApL0@AAH]?tARKw@A}A=A>A)L?A ?AZ*A#:?2Acֽ:A<BA#:?JAcֽRA<٘i)I9Kw@YG JJJJJF&K Y\~?yxNA)F+9FB)BڹE[[W>[[~?[]ݪ[[[[BZYY i) -IiƵ?h< (?));(?(?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040473.203165 s, next control iter: 1743040473.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040473.603165 s.54J~,f+AAQI@A ;II@A\~? A A%"AArNA"AZAbAjArAzAAAtmȖ0@AJf=tAv@A ^aAr=A4>A`$?AN?A*Ae?:?2AԽ:A<BAe?:?JAԽRA<٘i)I9v@Y<G J/JJJJF&K Yc6\~?y]NA+F7779)BݹE[[ό>[E\~?[I۪[[[[BZYY i) dBIi?^< 껇?)) 껇?껇? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040473.623165 s, next control iter: 1743040474.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13972 , header.stamp.nsec: 0 0 temperature: 13.565464 * salinity: 33.375381 , density: 1025.000000 * values[0]: 0.580303 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040474.023165 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: -0.065972< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743040474.023304F (some fields omitted in printout)AHz.J@Ac !J@A\~? AAT%"AA'rNA"AZAbAjArAzAAAU0@A[/\~?[ ٪[[[[BZYY ia ) \~Ii3?V< S?))S?S?qYمYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040474.063165 s, next control iter: 1743040474.423181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743040474.443165 s.;æJ~,O]+AAq= cJ@AUQVJ@A_]~? AA%"AArNA"AZAbAjArAzAAAt*1@A 1;:tA`u@A"A=A&?A@&?A ?Arl*A=:?2AԽ:AP<BA=:?JAԽRAP<٘i)I9u@YG JJJJJF&K Y]i\~?yMA.F{7j79EB)BE[[_>[jH\~?[֪[[[[BZYY i) 3Ii4?,XN< ?))??ıYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040474.463165 s, next control iter: 1743040474.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13973, header.stamp.nsec: 00 temperature: 13.565561* salinity: 33.375404, density: 1025.000000* values[0]: 0.579875F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040474.863165 s.+J~,>+AJ"J*J2J:JBJnJvJAJ@A=)J@Au-]~? AA%"AArNA"AZAbAjArAzAAA}l&s1@A zV8tAku@AF;AT*=Ab ?A`@?A!{?A2*Ad7:?2A\ս:A|<BAd7:?JA\սRA| ?y)=1;ٓHK?@)?.?.[? J?z"`Yx??)D> I٘i)I9u@YrG JB=JY˻JJJF&K t> Y\~?yRMA ?/FV9DB)BE[[>[`\~?[Ԫ[[[[BZYY i) /Iiԗ?WB< 4?))caw4?4?ᱪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040474.883165 s, next control iter: 1743040475.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040475.283165 s.@RJ~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241582@ elevatorAngleAction: -0.074769< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743040475.283289F (some fields omitted in printout)A(\J@ARJ@AVE]~? AA%"AA!sNA"AZAbAjArAzAAA5B1@A Z6tAu@AU<A$=A?A r?AQV?A *A=1:?2ArIս:AQ<BA=1:?JArIսRAQ<٘i)I9u@Y.G J C=JJJJF&K Y\~?yLA0F77!9AB)E[[_>[x\~?[\Ѫ[[[[BZYY i) ޻IiP?9q7< ?))??y.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040475.303165 s, next control iter: 1743040475.683185 s, wait time: 0.380020 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13974., header.stamp.nsec: 0.0 temperature: 13.565660.* salinity: 33.375427., density: 1025.000000.* values[0]: 0.579446.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040475.703165 s.ԺJ~,+AJ"J*J2J:JBJnJvJAQK@A#J@A]]~? AFAE%"AA-;sNA"AZAbAjArAzAAAo}2@AWG4tAt@AiY<AY=A?A??A O[\~?[vΪ[[[[BZYY i) -Ii?-< =?)) =?=?iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040475.723165 s, next control iter: 1743040476.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040476.123165 s.4J~,P+AAG:K@A-K@Art]~? AAj%"AA^sNA"AZAbAjArAzAAA׸$J2@Ap2tA:t@A޾;A{=A?A ?A@8?A@*A}@:?2A Խ:A=BA}@:?JA ԽRA=٘i)I9:t@YG JC=JJJJF&K Y\~?yMLA3F{7{79)B[[q>[&\~?[d˪[[[[BZYY i) zIiހ?$< bd?))bd?bd?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040476.143165 s, next control iter: 1743040476.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040476.543165 s.IJ~,"+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074769< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743040476.543285F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףpK@A cK@A]~? A A%"AADsNA"AZAbAjArAzAAAÊS)2@A*/tA3s@AlAȇ=AS ?AW?A?A"*Ak::?2A'hս:A=BAk::?JA'hսRA=٘i)I9s@YaG J胼JJJSFJF&K Y \~?y6ߪKA4Fb779?B)BE[[7>[B\~?[%Ȫ[[[[BZYY i) Iiu?c< ; ?)); ?; ?ԺYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743040476.563165 s, next control iter: 1743040476.943182 s, wait time: 0.380017 s \~?)6ߪtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13975, header.stamp.nsec: 00 temperature: 13.565734* salinity: 33.375446, density: 1025.000000* values[0]: 0.578981F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040476.963165 s.xJ~,=+AAffffK@Aڬ\K@A]~? A3AK%"AAGsNA"AZAbAjArAzAAA02@A-tA^s@A]AAz=A}%?A +?A?A*A3:?2Aֽ:A=BA3:?JAֽRA=Y>u%?yhx=AٓH |? J@ ?^:?S?~?K+?)> I٘i)I9^s@YG JJ@1<JJJF&Kt> Y\~?y٪KAu%?6F77{7K9>B)BE[[Û>[\~?[Ī[[[[BZYY i) g.Ii]c?9< ޮ?))MVxޮ?ޮ?}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040476.983165 s, next control iter: 1743040477.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040477.383165 s.J~,@X+AJ"J*J2J:JBJnJvJA(K@AK@AU]~? A8Awe%"AAsNA"AZAbAjArAzAAA3@Am+tAr@A@HaAk=A*?A ]?A@?AA*A-:?2AVֽ:A\R=BA-:?JAVֽRA\R=٘i)I9r@YG J܄JJJJF&K Y;]~?yԪ=KA7Fb779)B[[8>[\~?[<[[[[BZYY i) <=IiR?< (V?)) (V?(V?ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040477.403165 s, next control iter: 1743040477.783178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13976&, header.stamp.nsec: 0&0 temperature: 13.565821&* salinity: 33.375446&, density: 1025.000000&* values[0]: 0.578569&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040477.803165 s.wAJ~,{gs+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074769< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743040477.803287F (some fields omitted in printout)AL@A$aL@A]~? AA}%"AA"sNA"AZAbAjArAzAAAi4_3@A@W(tAkzr@Ab AJW=A%/?A?A@Fj?A*AA:?2AԽ:AR=BAA:?JAԽRAR=٘i)I9zr@YG J=JJJJF&K Y%]~?yLϪJA8F9:B)E[[>[ ]~?[[[[[BZYY i) P MIi{C?7; ?))??ƪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743040477.823165 s, next control iter: 1743040478.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040478.223165 s.gJ~J,H+A"J*J2J:J ?BJ ?nJ>5vJAzGL@A:L@A]~? AA=%"AA tNA"AZAbAjArAzAAA,3@AZ.%tAq@A:A=A 4?A`p?A@/?A**AR=:?2AԽ:A, =BAR=:?JAԽRA, =٘i)I9q@YIG JAJJJJF&K YT<]~?yɪJA:F77{798B)BE[[Y?[]~?[[[[[BZYY iҫ) S\Ii06?E4; p?))p?p?*ʪYYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743040478.243165 s, next control iter: 1743040478.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040478.643165 s.wJ~, *+AA ףp}L@A'dpL@A]~? ApAZ%"AAd-tNA"AZAbAjArAzAAA/BL3@AKMI#tA}q@AY*<A*=A9?A?A@K?A*A{8:?2AԽ:A=BA{8:?JAԽRA=٘i)I9}q@YG JÚJJJJF&K YR]~?yĪ&JA;F{7j7v97B)BE[[?[6]~?[[[[[BZYY i) lIi*?K|; ]j?))]j?]j?,ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040478.663165 s, next control iter: 1743040479.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13977, header.stamp.nsec: 00 temperature: 13.565921* salinity: 33.375458, density: 1025.000000* values[0]: 0.578095F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040479.063165 s.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: -0.083824< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040479.063302F (some fields omitted in printout)A3333L@APs'L@Aw^~? A۫A%"AAdNtNA"AZAbAjArAzAAA(.&4@AyD tAp@A0f<A2<=A>?Ac]?A?AM̡*A"/:?2ALս:A E=BA"/:?JALսRA E=Y!?+??y[8=?Y?ⲿ'ӌ??)!? I٘i)I9p@YG JSJr<JJJF&Kt> Yg]~?yIA+??<F77A9)B[[! ?[M]~?[P[[[[BZYY i) /{Ii~?0; ?))u,z??ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040479.083165 s, next control iter: 1743040479.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040479.483165 s._J~,+AA\L@A`5L@A&^~? A?׫A$ %"AAntNA"AZAbAjArAzAAATug4@AWtAXnp@A*<Az=A1D?A?A r?A@*A$&:?2Aս:Ajw=BA$&:?JAսRAjw=٘i)I9np@YUG JJJJJF&K YU|]~?y[IA>F{7j7 96B)BE[[Ê?[^d]~?[[[[[BZYY i) *Ii?-); Oͬ?)) Oͬ?Oͬ?y>ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040479.503165 s, next control iter: 1743040479.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13978, header.stamp.nsec: 00 temperature: 13.566065* salinity: 33.375454, density: 1025.000000* values[0]: 0.577556F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040479.903165 s.J~,+AJ"J*J2J:JBJnJvJAQM@AM@A;^~? AsҫAgg%"AAtNA"AZAbAjArAzAAA#z"4@A5m6tAo@A G:AMU=A}I?A?A qN?A*A4:?2AԽ:A4a=BA4:?JAԽRA4a=٘i)I9o@YG JgJJJJF&K Y]~?yHA?F)7ŧ795B)BE[[?[z]~?[][[[[BZYY i) پIi>Vk; I?))I?I?תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040479.923165 s, next control iter: 1743040480.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040480.323165 s.tJ~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083824< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743040480.323293F (some fields omitted in printout)AGzTM@AeoGM@AxP^~? AͫAE%"AAtNA"AZAbAjArAzAAAʳJ84@A]tAs[o@A* AqQ=AwN?A?A ?Ae*A5-:?2Arս:A=BA5-:?JArսRA=٘i)I9[o@YG JڣJJJJF&K Yǥ]~?yĬHA@Fb7b792B)BE[[|?[a]~?[[[[[BZYY i) QIi/>; E?))E?E?ڪY}-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040480.343165 s, next control iter: 1743040480.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 13979*, header.stamp.nsec: 0*0 temperature: 13.566208** salinity: 33.375450*, density: 1025.000000** values[0]: 0.576971*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040480.743165 s.W J~,/+AJ"J*J2J:J?BJ?nJ5vJAףp=M@A 3}M@Ad^~? AwȫA'%"AAtNA"AZAbAjArAzAAA]R#5@A%2=tAAn@AaA=AT?A6?A@?Aާ*A$:?2Aս:A;=BA$:?JAսRA;=٘i)I9n@YYG JJJJJF&K Y]~?yɦ*HABF7777l91B)BE[[7!?[]~?[[[[[BZYY i) 囼Ii->ay;  ?)) ? ?QߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040480.763165 s, next control iter: 1743040481.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040481.163165 s.y}J~,qJ+AAM@AM@Ax^~? AIëAu%"AAftNA"AZAbAjArAzAAA`4I`5@A0}tA@n@A?Aǥ=A.Y?A?Ag?A*A4:?2Aֽ:A=BA4:?JAֽRA=Y ?~X?yĥ=J@ٓH???i?@<(? j? ϲ@?) ? I٘i)I9@n@YG JJ<JJJF&Kgu> Y/]~?y1GAX?CF{769)B[[y&?[C]~?[[[[[BZYY i) &GIi˟>$L; ķ?))_|ķ?ķ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040481.183165 s, next control iter: 1743040481.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040481.583165 s.J~,Se+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.246793@ elevatorAngleAction: -0.083824< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040481.583302F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\M@An4M@A^~? AA%"AA uNA"AZAbAjArAzAAAE5@AI@tA˪m@A$cA ͨ=Aw9^?A`@?A`3?A*A#:?2Aoֽ:A&#=BA#:?JAoֽRA&#=٘i)I9m@YG JJJJJF&K Y]~?yLGADF779/B)¯BE[[+?[]~?[t[[[[BZYY i) Ii>#; M?)) M?M?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040481.603165 s, next control iter: 1743040481.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13980, header.stamp.nsec: 00 temperature: 13.566369* salinity: 33.375496, density: 1025.000000* values[0]: 0.576393F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040482.003165 s.z J~,U4+AAR+N@AcxN@A^~? AA^Z%"AA(uNA"AZAbAjArAzAAAᑪ{5@Ag tA m@A;A^_=A#c?AF?A?A&*A0!:?2A߇Խ:Awd=BA0!:?JA߇ԽRAwd=٘i)I9 m@YFG JqJJJJF&K Y]~?yFAFF)7ŧ79.B)ƯBE[[1?[]~?[[[[[BZYY i) IiG>O: dM?))dM?dM?YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743040482.023165 s, next control iter: 1743040482.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040482.423165 s.u&J~,+AJ"J*J2J:JBJnJvJA{GaN@A o8: q?))q?q?;YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040482.443165 s, next control iter: 1743040482.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13981, header.stamp.nsec: 00 temperature: 13.566570* salinity: 33.375496, density: 1025.000000* values[0]: 0.575735F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040482.843165 s.,J~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083824< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743040482.843276F (some fields omitted in printout)Ap= N@A#ظN@A{^~? AYA2%"AAauNA"AZAbAjArAzAAAhH6@A9tA,k@AaS<AЮ=ADm?A@?A?A̼*AJ:?2A?ս:Aw=BAJ:?JA?սRAw=٘i)I9k@YyG J#˼JJJJF&K Y^~?yυEAHFj7Z7a9*B)̯BE[[D YY(^~?y~EAr?JF)7ŧ7,9)ѯB[[UB?[&^~?[}[[[[BZYY i) B ȼIi%=9 ղ?))ղ?ղ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040483.283165 s, next control iter: 1743040483.663185 s, wait time: 0.380020 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13982., header.stamp.nsec: 0.0 temperature: 13.566802.* salinity: 33.375526., density: 1025.000000.* values[0]: 0.574998.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040483.683165 s.l:J~,Z+AA(\O@AN@A^~? AA%"AAuNA"AZAbAjArAzAAARC6@Ay̕sAcj@A؊Aϰ=Ax?A@?A`H?AI˼*A:?2A6oֽ:Aq=BA:?JA6oֽRAq=٘i)I9cj@YG J̼JJJJF&K Y8^~?ywEAKFb779(B)կB E[[kG?[9^~?[w[[[[BZYY i) LIϼII?iF {?)) {?{?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040483.683165 s, next control iter: 1743040484.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743040484.103165 s.AJ~,Ț+AJ"J*J2JvPublished command to Gazebo (printed only once in a while)::J( dropWeightState: 1BJnJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083824< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743040484.103315F (some fields omitted in printout)AQ8O@A"^F+O@A^~? AA%"AA߳uNA"AZAbAjArAzAAA,6@ARQsAli@AFAñ=Ae}?AT&?A ם?A˼*A:?2A*ս:Av=BA:?JA*սRAv=٘i)I9i@Y?G J˼JJJJF&K Y?I^~?y`pDALF77{79)گB[[qM?[M^~?[q[[[[BZYY i) bּII?iKy9 >?))>?>?oYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040484.123165 s, next control iter: 1743040484.503182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040484.523165 s.GJ~,{!+AAHznO@AaO@A' _~? AA%"AAuNA"AZAbAjArAzAAA̒#7@A[ޖsA i@Ab_A=AG?Ao?A`?Aͼ*AN :?2Aֽ:A9K=BAN :?JAֽRA9K=٘i)I9 i@Y G J̼JJJJF&K YY^~?y;i&DANF9#B)ۯB E[[OS?[`^~?[Jk[[[[BZYY i.2) ݼI I?i콉. ?))??Y.)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040484.543165 s, next control iter: 1743040484.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13983, header.stamp.nsec: 00 temperature: 13.567023* salinity: 33.375534, density: 1025.000000* values[0]: 0.574261F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040484.943165 s.idNJ~,]<+AJ"J*J2J:JBJnJvJAq= ףO@A=B͖O@A_~? A\AOv%"AAuNA"AZAbAjArAzAAAF fQ7@AB sA^h@AoA觳=A̓?A x?A@&8?AζҼ*A:?2Aս:A=BA:?JAսRA=٘i)I9^h@Yl G JϼB=JJJJF&K  9Y&j^~? 9ybCAOF777V9)B[[ Y?[s^~?[d[[[[BZYY i) I I?ix|Ⱥ ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040484.963165 s, next control iter: 1743040485.343192 s, wait time: 0.380027 s rAdjusting time to match Gazebo time: 1743040485.363165 s.UJ~,>W+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092869< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199472 time: 1743040485.363288F (some fields omitted in printout)AO@AqO@A-_~? A A%"AAvNA"AZAbAjArAzAAAij7@A7{sA«g@A:Aô=A;K?A ?A?Aկּ*AI9?2Aս:Ahf=BAI9?JAսRAhf=YT?P?yô= :ٓH? 1U? ?`?R? A_?`?)T? I٘i)I9g@Y G J<ԼC=JN;JJJF&Kvv> Y2x^~?yuZ6CAP?PFj7j7!9B)BE[[^?[!^~?[^[[[[ZZ¸BZYY i¸?=) ؼII?i] b?))8b?b?TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040485.383165 s, next control iter: 1743040485.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 13984&, header.stamp.nsec: 0&0 temperature: 13.567259&* salinity: 33.375526&, density: 1025.000000&* values[0]: 0.573489&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040485.783165 s.T[J~,r+AJ"J*J2J:JBJnJvJA(\P@At?PP@A<_~? AAl%"AAvNA"AZAbAjArAzAAA[в7@AsAf@A:0<A;V=AF͈?AB:?A`)?AAۼ*A|9?2Aս:A=BA|9?JAսRA=٘i)I9f@Y G JؼJJJJF&K Y>^~?yRBARF7779)B[[qd?[^~?[SW[[[[ZZBZYY i) D̼I2I?ilv2 a?)) a?a?y vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040485.823165 s, next control iter: 1743040486.183175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743040486.203165 s.cJ~,+AAQEP@A*8P@AdL_~? A|A%"AA0vNA"AZAbAjArAzAAA ~7@AX[KT sA(f@AXe<A≯=AY?Ap?A?A*A:?2A+ս:A=BA:?JA+սRA=٘i)I9(f@Y G JJJJJF&K YK^~?y6KDBASF{7j79B)BE[[6j?[^~?[ZP[[[[ZZBZYY i) IH?iOlQR 1?))1?1?y5=dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040486.243165 s, next control iter: 1743040486.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743040486.623165 s.XiJ~,a+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083130< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743040486.623281F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzP@A2ƇmP@Ae[_~? AuAj%"AAGvNA"AZAbAjArAzAAA }8@Ap|sAFe@A<Aԍ=A6?Ad?A U?AS*A :?2Aս:A<BA :?JAսRA<٘i)I9Fe@Y G JeB=JJJJF&K YY^~?yCAATF77{79)B[[rp?[^~?[6I[[[[ZZBZYY i) ޴IH?i\Cm }?))}?}?y =ԪY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040486.643165 s, next control iter: 1743040487.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13985 , header.stamp.nsec: 0 0 temperature: 13.567546 * salinity: 33.375542 , density: 1025.000000 * values[0]: 0.572665 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040487.043165 s.pJ~,+AA= ףP@AP@Ai_~? AnAt%"AAU^vNA"AZAbAjArAzAAAϽE;8@AAQsAond@A$8A)v=A?A ?At?A*A:?2AKս:A k<BA:?JAKսRA k<͕I٘i)I9nd@Y G JC=JJJJF&K Yd^~?y;QAAVF777L 9B)BE[[u?[^~?[A[[[[ZZBZYY i) 2ըIZH?iʾK ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040487.083165 s, next control iter: 1743040487.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040487.463165 s.[wJ~,+AJ"J*J2J:JBJnJvJAffffP@AW\P@Ax_~? A hAp%"AAtvNA"AZAbAjArAzAAAKdf8@AA2sAc@A4"A^2=AJ?A#?A-?Aͼ*A:?2Aj1ֽ:A0;BA:?JAj1ֽRA0;Yp`n? Y^~?y3AA elevatorAngleAction: 0.073584< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743040487.883287F (some fields omitted in printout)A(Q@AzQ@A˅_~? A*aAN%"AA=vNA"AZAbAjArAzAAAo8@A~3)ҘsAc@AuAy<A?AH?A?A*A1:?2AJֽ:A,'BA1:?JAJֽRA,'٘i)I9c@Y0 G JYJJJJF&K Y}^~?y+@AXFŧ7b7 9B)BE[[?[^~?[2[[[[ZZBZYY i) (6IH?i`? ܌?))܌?܌?uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040487.923165 s, next control iter: 1743040488.283180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040488.303165 s.SJ~,jg+AJ"J*J2J:J??BJ??nJZ5vJAQQ@A%DQ@A _~? A4ZAR|%"AAvNA"AZAbAjArAzAAA[uƷ8@A[s-YsAb@AeLAѰ'<A}?A`@w?A`\?A |*A6:?2Aeֽ:ABA6:?JAeֽRA٘i)I9b@Y G JJJJJF&K Y ^~?y#@AZF779B)BE[[?[^~?[H+[[[[ZZBZYY i) \fIH?iF iմ l?))l?l?}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040488.323165 s, next control iter: 1743040488.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 13987., header.stamp.nsec: 0.0 temperature: 13.568081.* salinity: 33.375534., density: 1025.000000.* values[0]: 0.570940.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040488.723165 s.J~,H.+AAzQ@A3zQ@Aҟ_~? A)SA%"AAovNA"AZAbAjArAzAAAֈ8@AFJr sA-4b@AsAlA"?A?Ak?A2*A:?2A'ֽ:ArBA:?JA'ֽRAr٘i)I94b@Y G J\JJJJF&K Y^~?ya@A[F77{7w9)B[[?[ _~?[l#[[[[ZZBZYY i =) -{IgH?in Q?))Q?Q?y]=,(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040488.763165 s, next control iter: 1743040489.123182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743040489.143165 s.U/J~,*I+AJ"J*J2J:J?BJ?nJ55vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082851< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743040489.143290F (some fields omitted in printout)A ףpQ@ATgQ@A$_~? A LAK%"AA}vNA"AZAbAjArAzAAAYR9@A{sAa@A5d;ALǘAg?A ?A(?Aaػ*A :?2Aֽ:AhBA :?JAֽRAh٘i)I9a@Y G JJJJJF&K Y"^~?y%@A\Fŧ7b7A9)B[[{?[_~?[l[[[[ZZBZYY i) eIH?i$lʻ =?))=?=?y=R)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040489.163165 s, next control iter: 1743040489.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040489.563165 s.J~,_ d+AA3333Q@AD(Q@A_~? ADA%"AAvNA"AZAbAjArAzAAAPB'9@A]MsAa@A|Z<A&A\?Aa?A ?A:L**A9?2A ׽:AļBA9?JA ׽RAļYB?O?y#Z<ٓH@.? dg? }`?@?Y? Z?B?)B? I٘i)I9a@Yq G J%J6JJJF&Ky> Y^~?yS P@AO?^F77 9B)BE[[?[%_~?[`[[[[BZYY ik=) TIH?iR, ܻ H?))H?H?yŪ=Y**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040489.583165 s, next control iter: 1743040489.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13988, header.stamp.nsec: 00 temperature: 13.568166* salinity: 33.375546, density: 1025.000000* values[0]: 0.570646F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040489.983165 s.J~,~+AJ"J*J2J:J?BJ?nJ.5vJA\(R@A"R@A[_~? A=Ag%"AAsvNA"AZAbAjArAzAAA/CJ9@ADܿsAa@A:P<A2/A?A?A@?ARr:*Ax9?2A׽:ABAx9?JA׽RA弙٘i)I9a@Yn G JAJJJJF&K Y^~?y{@A_F7779)[[?[2_~?[, [[[[BZYY ia=) BIH?i85 9?))9?9?y =k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040490.003165 s, next control iter: 1743040490.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040490.403165 s.&J~,͙+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067569< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743040490.403297F (some fields omitted in printout)AQ^R@ALl>QR@A?_~? A76A7%"AAZvNA"AZAbAjArAzAAAHk9@AbTQasA'a@Ai;A*WA?A@4?A 7s?A.;*A9?2Aֽ:A6CBA9?JAֽRA6C٘i)I9a@Y G J;JJJJF&K Y_~?y@A`Fŧ7b79)B[[z?[?_~?[[[[[BZYY i) 1I?H?iBL L?))L?L?yd= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040490.423165 s, next control iter: 1743040490.803177 s, wait time: 0.380012 s_~?)"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13989", header.stamp.nsec: 0"0 temperature: 13.568119"* salinity: 33.375568", density: 1025.000000"* values[0]: 0.570634"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040490.823165 s.J~,%+AJ"J*J2J:JBJnJ-5vJAGzR@A%vmoR@A_~? A.A%"AA wNA"AZAbAjArAzAAAMRڊ9@AazP۶sA'b@AAuA?AJV?A/?A`3<*A9?2Annֽ:ABA9?JAnnֽRA٘i)I9'b@Y G J<JJJJF&K Y _~?y/@AbFj7j7l9)B[[?[ K_~?[X[[[[BZYY i) }IVH?iJ t?))t?t?y+=K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040490.843165 s, next control iter: 1743040491.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040491.243165 s.J~,u+AAףp=R@A13R@A_~? AU'AWX%"AAwNA"AZAbAjArAzAAAU9@AtKsAm~b@AUA솽A?A&v?A?Aމk<*AA9?2A>ֽ:A.BAA9?JA>ֽRA.٘i)I9~b@Y G J"N<JJJJF&K Ym_~?y@AcF7779 B)BE[[?[hV_~?[[[[[BZYY i) BIH?i1QI >?))>?>?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040491.263165 s, next control iter: 1743040491.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040491.663165 s.J~,q+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067569< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743040491.663307F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13990, header.stamp.nsec: 00 temperature: 13.567963* salinity: 33.375584, density: 1025.000000* values[0]: 0.570959F (some fields omitted in printout)AS@ApR@A _~? AA%"AA'wNA"AZAbAjArAzAAA&c9@AN(sAb@AWfAy㏽A2?Ax?A?AA<*A9?2APVֽ:ABA9?JAPVֽRAYG?NS?yߏfٓHs?=@ً`,??Ű@1?ʌ`?)G? I٘i)I9b@Y G Jy<JJJJF&Kw> Y_~?y3\AAS?dF77779)B[[N?[a_~?[![[[[BZYY ij=) J|I$H?i^ $?))$?$?d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040491.683165 s, next control iter: 1743040492.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040492.083165 s.DJ~, S+AA)\5S@Ad(S@A_~? A4At~%"AA5wNA"AZAbAjArAzAAA9@AMTEsAcc@AFANAݯ?A@U?A*'?A]<*A9?2A/ֽ:ABA9?JA/ֽRA٘i)I9cc@Yd G J<JJJJF&K Y"_~?yةAAfF779)B[[?[k_~?[d[[[[BZYY i) >޻IH?ih @))@@V*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040492.103165 s, next control iter: 1743040492.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040492.503165 s.J "J J~*J2J:J;?,e4 +ABJ;?nJV5vJARkS@AXy^S@Al_~? AA6%"AABwNA"AZAbAjArAzAAA K9@ASdsAuc@A';A;AR?AT?AO?A<*A9?2Ae׽:A5&BA9?JAe׽RA5&٘i)I9c@Y G J<JJJJF&K Y(_~?yЩBAgF77{7!9)B[[.?[zt_~?[ש[[[[BZYY i) IvH?iqi R@))R@R@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040492.523165 s, next control iter: 1743040492.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13991, header.stamp.nsec: 00 temperature: 13.567701* salinity: 33.375572, density: 1025.000000* values[0]: 0.571531F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040492.923165 s.8J~,;+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057330< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743040492.923284F (some fields omitted in printout)A{GS@A׻?S@A[`~? AA%"AAOOwNA"AZAbAjArAzAAA#+W:@AgMsA8rd@An<<AAE?A@?A@|u?At<*A9?2A]׽:A BA9?JA]׽RA ٘i)I9rd@Y G J&<B=JJJJF&K Y._~?ygǩ~BAiF7)7b#9 B)BE[[$?[B}_~?[Ω[[[[BZYY i) eIBiH?ix9 J@))J@J@y=k= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040492.963165 s, next control iter: 1743040493.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040493.343165 s. Y8_~?y FCA`?kF77&9)ۯB[[ª?[Č_~?[l[[[[BZYY i) IIcMH?ij}}) H@))H@H@i*YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743040493.803165 s, next control iter: 1743040494.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743040494.183165 s.J~,c+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812J< rudderAngleAction: -0.261799"J> elevatorAngleAction: 0.057330*J2J< massPositionAction: 0.000000:J4 buoyancyAction: 0.000500BJ dt: 0.420000nJvJ2 time: 1743040494.183273F (some fields omitted in printout)A(\BT@A̘5T@A`~? AyA4p%"AAowNA"AZAbAjArAzAAAa+Q:@A~ksA&f@ATA˝A_?A!!?Ak?A|<*A89?2Aֽ:AGBA89?JAֽRAG٘i)I9&f@Y G J<C=JQ>JJJF&K Y@;_~?yQCAmF77(9B)ԯBE[[CЭ?[|_~?[C[[[[BZYY iB=)  I>H?ij/ HH@))HH@HH@e*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743040494.203165 s, next control iter: 1743040494.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040494.603165 s.<4J~,Ú+AAQxT@A"^FkT@A`~? AA %"AATywNA"AZAbAjArAzAAAKac:@AsA*f@AmAݝAf?A;I?A "?A9<*Aw:?2A`ֽ:A8BAw:?JA`ֽRA8٘i)I9f@Ym G Jȱ<JQ>JJJF&K Y|>_~?yDAnFŧ7ŧ7*9)ϯB[[}?[_~?[[[[[BZYY i) I/H?iό<4  @)) @ @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040494.643165 s, next control iter: 1743040495.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 13993 , header.stamp.nsec: 0 0 temperature: 13.567098 * salinity: 33.375576 , density: 1025.000000 * values[0]: 0.572926 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040495.023165 s.ZJ~,{+AJ"J*J2J:JBJnJvJAHzT@Akծ T@AX%`~? AA%"AAwNA"AZAbAjArAzAAA@̨Qs:@A NȇsANg@AiAXA?AEm?Ah ?A<*A:?2Aֽ:ABA:?JAֽRA٘i)I9Ng@Y G J<JJJJF&K YA_~?yӛ{DAoFb7W,9)˯B[[?[_~?[[[[[BZYY i) HHI H?iy7 !L @))!L @!L @&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040495.043165 s, next control iter: 1743040495.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040495.443165 s.5J~,5]+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066367< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743040495.443281F (some fields omitted in printout)Aq= T@AēT@A4*`~? A٪A>%"AAwNA"AZAbAjArAzAAAaH :@A 3sAg@A8AzA?A}?A}#?Aϡ<*A:?2AϺֽ:AsBA:?JAϺֽRAs٘i)I9g@Y G Jڦ<JJJJF&K YD_~?yDAqFb7".9)ƯB[[k?[_~?[A[[[[BZYY i) `J!:I~H?i9  @)) @ @yۇ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040495.463165 s, next control iter: 1743040495.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13994, header.stamp.nsec: 00 temperature: 13.566797* salinity: 33.375603, density: 1025.000000* values[0]: 0.573633F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040495.863165 s.+J~,>+AJ"J*J2J:JBJnJvJAU@AIc U@A.`~? AѪA%"AAwNA"AZAbAjArAzAAA{sh/:@Ad'~sA^h@AKALAAg?A@6H?A98?AC<*A:?2Az׽:A;BA:?JAz׽RA;Y_?Bl?yLٓH *?`J@Qiu?h?`䰿 l?ab?)_? I٘i)I9^h@Yl G J(<Jz<JJJF&Kx> YOE_~?yE=EAl?rF{7j7/9B)BE[[u"?[o_~?[ۍ[[[[BZYY i) G:I[H?i @  elevatorAngleAction: 0.066367< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743040496.703274F (some fields omitted in printout)J"J*J2J:JBJnJvJAQU@A&xU@A5`~? AAT&"AAHwNA"AZAbAjArAzAAA$y:@AvMItsA,Ni@A~d<A;5A_?A|?AY?Aߴ<*A2:?2Aq׽:A-BA2:?JAq׽RA-꼙٘i)I9Ni@Y G J<B=JJJJF&K Y F_~?yxEAuF77j739)B[[V?[_~?[z[[[[BZYY i) Lc;IG?i䜿]H Y@))Y@Y@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040496.723165 s, next control iter: 1743040497.103180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040497.123165 s.8J~,aG+AAGU@ASAEխU@A\8`~? AA-&"AAߠwNA"AZAbAjArAzAAA%ƕ[:@A;-`osAi@A O<ACAY?A`I˱?Af?A(<*Ah:?2AM׽:A8BAh:?JAM׽RA8뼙٘i)I9i@YBG J.<C=JJJJF&K YeF_~?yoNFAvF77L59B)BE[[r?[ͮ_~?[Fq[[[[BZYY iK=) ʐ;IG?ig1K @))@@f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040497.143165 s, next control iter: 1743040497.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040497.543165 s.IJ~,b+AJ"J*J2J:J?BJ?nJ<5vJA= ףU@A,_U@A:`~? AA\L&"AAwNA"AZAbAjArAzAAA:@A=ĂujsA-j@A͛;AƁAx?A?Ap?A)<*Au:?2Aֽ:A'*BAu:?JAֽRA'*𼙘٘i)I9-j@YG J6<JJJJF&K YF_~?y gFAwF77{779)B[[C?[ǯ_~?[g[[[[BZYY i) N;IG?i:L k@))k@k@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040497.563165 s, next control iter: 1743040497.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13996, header.stamp.nsec: 00 temperature: 13.566286* salinity: 33.375595, density: 1025.000000* values[0]: 0.574841F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040497.963165 s.xJ~,}+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: 0.4200232 time: 1743040497.963343F (some fields omitted in printout)Affff&V@AV]V@AD<`~? AA&"AAwNA"AZAbAjArAzAAAɸ:@AnesAj@A.칻A1큽A%j?Aq?A` Y>D_~?yC^GAu?yF77789)B[[?[_~?[^[[[[BZYY i) g;IG?iQ  @)) @ @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040497.983165 s, next control iter: 1743040498.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040498.383165 s.%J~,++AJ"J*J2J:JBJnJvJA(\V@AOV@Ao=`~? AAv&"AAީwNA"AZAbAjArAzAAA%zR:@A. G`sA0 k@AQVA悽AO?A?A;}?A<*A9?2Aֽ:AngBA9?JAֽRAng٘i)I9 k@YG J<C=JJJJF&K YA_~?y}UWGAzF)7b7:9)B[[ ?[{_~?[}T[[[[BZYY i) ;I,G?iƦyU Xw@))Xw@Xw@y)ؙ=)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040498.423165 s, next control iter: 1743040498.783177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 13997", header.stamp.nsec: 0"0 temperature: 13.566062"* salinity: 33.375591", density: 1025.000000"* values[0]: 0.575375"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040498.803165 s.vA,J~,wg+AAV@A8V@A>`~? AjA?%&"AAFwNA"AZAbAjArAzAAAaC:@AJ2[sA~k@A `A{WA6?A ?A ?A]0<*AW9?2Aֽ:ABAW9?JAֽRA٘i)I9~k@YSG J<JJJJF&K Y8?_~?yLGA{F{7j7w<9B)BE[[?[3_~?[J[[[[BZYY i) a% elevatorAngleAction: 0.075169< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743040499.223284F (some fields omitted in printout)AzV@APpV@A/>`~? ATA&"AAwNA"AZAbAjArAzAAA;_:@AлVsAk@Ao'Ag.A;?A sA ?AD<*A9?2Agֽ:A=BA9?JAgֽRA=٘i)I9k@YG J<JJJJF&K Y<_~?yCHA}F7{7B>9)B[[?[(_~?[7A[[[[BZYY i) ȿ7i(?}X?fȿ/{@_?@2??)"v? I٘i)I9l@YG J΃<J.JJJF&K|x> Y4_~?y2HA?Fb77A9)B[[gW?[ϥ_~?[.[[[[BZYY i) 6 elevatorAngleAction: 0.075169< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743040500.483291F (some fields omitted in printout)A\hW@A/-[W@AM;`~? AyAv&"AAѨwNA"AZAbAjArAzAAAO*׵:@Aג3GsA>m@Ag<AAY=?AA`p?A7<*Ax9?2A9a׽:AuBAx9?JA9a׽RAu٘i)I9>m@YdG Je<JJJJF&K Yw/_~?y)IAFC9)BE[[{?[_~?[o$[[[[BZYY i) JE*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040500.523165 s, next control iter: 1743040500.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 13999, header.stamp.nsec: 00 temperature: 13.565638* salinity: 33.375610, density: 1025.000000* values[0]: 0.576443F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040500.903165 s."MJ~,9+AJ"J*J2J:JBJnJvJAQW@Aq8W@AF9`~? A qA9&"AA.wNA"AZAbAjArAzAAA>@:@A'CsAhm@Av[<ANAy?A(Af?Aǽ<*A9?2A2׽:A[nBA9?JA2׽RA[n٘i)I9m@YG J<JJJJF&K Y*_~?y9!uIAFŧ7b7lE9)B[[a?[l_~?[[[[[BZYY i) UsA}-n@A&lApAP?AbArZ?Aڈ<*A9?2A+ֽ:A0) BA9?JA+ֽRA0) ٘i)I9-n@YG J<JJJJF&K Y$_~?yIAF{7j77G9)B[[?[_~?[X[[[[BZYY i=) :d elevatorAngleAction: 0.084234< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743040501.743293F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= X@Aʆ5W@A3`~? A`At&"AAwNA"AZAbAjArAzAAAU˥:@Acti79sAn@Al)AϕA?A"AK?A<*A9?2Aiֽ:AZBA9?JAiֽRAZ٘i)I9n@YEG J3<JJJJF&K Y`_~?y0JAF77I9B)BE[[?[_~?[[[[[BZYY i) s Y:_~?yJA?F7J9)B[[?[_~?[v[[[[BZYY i)  elevatorAngleAction: 0.084234< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743040503.003327F (some fields omitted in printout)ARX@A4M~X@AP'`~? A IA6H &"AAwNA"AZAbAjArAzAAAA:y:@A.S*sA$Jp@AۺA&A?A`A`?A<*A9?2Aֽ:A۫BA9?JAֽRA۫̕I٘i)I9Jp@Y?G J<C=JJJJF&K Y_~?ybKAF77{7bN9)~B[[Qa?[w_~?[[[[[BZYY i)  elevatorAngleAction: 0.084234< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743040504.263288F (some fields omitted in printout)ALY@A?e?Y@AA`~? Ad1A &"AAtwNA"AZAbAjArAzAAA\;E:@A ,sA:q@AG<AUAH?AM_ǿA ?A߮<*A9?2A&׽:AdBA9?JA&׽RAdYz?Ē?yRfH<ٓH1ؿ?uq?}ؿW@Ĵ? ?c?)z? I٘i)I9q@Y?G JЪ<B=JJJJF&K Y^~?yݨLA?Fb77S9B)rB E[[?[Y_~?[RШ[[[[BZYY i) 3 elevatorAngleAction: 0.084234< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743040505.523282F (some fields omitted in printout)AHzY@A? Y@A`~? AA &"AATwNA"AZAbAjArAzAAA ":@A sAs@AZAAמ@A̿AU?A[<*AG9?2Av&ֽ:ABAG9?JAv&ֽRA٘i)I9s@Y`G Jg<B=JJJJF&K Y;^~?yJŨMAF"Y9B)eBE[[ #@[3_~?[[[[[BZYY i) :Q+AAYZ@ADLZ@A_~? A A &"AA& Y^~?yoNAM@Fb77\9)ZB[[F@[_~?[p[[[[BZYY i) M elevatorAngleAction: 0.084234< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743040506.783307F (some fields omitted in printout)A(\Z@A@PZ@Ar_~? AOA&"AA.wNA"AZAbAjArAzAAA"W9@A sAu@A1;ATAɠ@A=ѿA?A?<*A9?2AQ׽:AiBA9?JAQ׽RAi٘i)I9u@YG J9<JJJJF&K Y^~?yIOAF^9B)WBE[[@[_~?[[[[[BZYY i) ) elevatorAngleAction: 0.093275< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743040508.043316F (some fields omitted in printout)A= ף0[@Aތ#[@A_~? A AR&"AA_wNA"AZAbAjArAzAAAfW9@AEtrAw@A <AO.AN @AӿAF?A<*At9?2Atֽ:ABAt9?JAtֽRA٘i)I9w@YG J<B=JJJJF&K Y4}^~?yPAF7b7c9)HB[[ډ @[^~?[y[[[[BZYY i)  YSm^~?y<&QA @F777e9 B)EBE[[ @[^~?[{[[[[ZZZZ¸>BZYY i¸>k) @)) I>@ I>@yl=/*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040508.903165 s, next control iter: 1743040509.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040509.303165 s.J "J *J 2J :J 4?BJ 4?nJ =5vJ ZJ~,gS+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082724< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743040509.303265F (some fields omitted in printout)A[@A|Bv[@A_~? AhשA&"AAvNA"AZAbAjArAzAAAOH>8@Aq?rAz@AiA@A]V @A`DֿA ?A=*A9?2Aֽ:A)BA9?JAֽRA)٘i)I9z@Y.G J<JJJJF&K YM^~?yRAFBi9 B);BE[[@8@[^~?[1l[[[[ZZZZBZYY i) =5vJA ףp=\@A0e0\@AU_~? A_ɩAf&"AAvNA"AZAbAjArAzAAA2NF8@A VrA{@A<AoxA~@A׿A;'?ALw<*A 9?2A~ֽ:ABnBA 9?JA~ֽRABn٘i)I9{@Y;G J=JJJJF&K Y-^~?y,r SAF77l9 B)/BE[[TQ@[z^~?[][[[[ZZZZBZYY i) b Y^~?ykkISAM@F77{7n9B))BE[[@[e^~?[WV[[[[ZZZZBZYY i) ա~@AZԻA\<A[@AۿAP?A;*Aϵ9?2A˶ֽ:A?<BAϵ9?JA˶ֽRA?<٘i)I9>~@YG J9<B=JJJJ F&K Y]~?ymP^~?[;[[[[ZZZZBZYY i) mJJJ F&Kx> Yg]~?yKJTA@F77w9B)#BE[[@[o]~?[D5[[[[ZZZZBZYY ihj) O[5vJAR]@A;y]@A,_~? AƔAw&"AAduNA"AZAbAjArAzAAA\37@A瓼rAM~@A+AU=Am@Am/޿A?Akxݻ*AÝ9?2A|ֽ:A<BAÝ9?JA|ֽRA<٘i)I9M~@YG J+JJJJ F&K Y]~?y>SAFŧ7b7-{9)[[@[]~?[L)[[[[BZYY i) 8 YV]~?yH,SAP@Fŧ779B)2BE[[i5#@[Ȁ]~?[[[[[BZYY ifi) ))C?>rS@sĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040514.803165 s, next control iter: 1743040515.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040515.183165 s.2K~,k,AJ"J*J2J:JBJnJvJA(\^@Af^@A-^~? A|A;&"AAuNA"AZAbAjArAzAAAcdW_6@A#rA|@A<Af=Aє@A~A?A!*A9?2AVֽ:APf=BA9?JAVֽRAPf=٘i)I9|@YG JJJJJF&K Y@]~?y&RAF777X9B)7B޹E[[͸$@[g]~?[[[[[BZYY i) x;IYD?i\#, <))<eU@dͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040515.203165 s, next control iter: 1743040515.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040515.603165 s.849K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056983< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743040515.603273F (some fields omitted in printout)AQ^@AjIG^@A^~? A8wAza&"AAouNA"AZAbAjArAzAAA'6@AˉrA W|@A!5AT=A2 @ABA"X?An*Ac9?2Aֽ:Ask =BAc9?JAֽRAsk =٘i)I9W|@YG JJJJJF&K Y*]~?y`!HRAF{7j7"9 B)=B۹E[[/:&@[N]~?[[[[[BZYY i) n;ID?iS  Q5;))Q5;dV@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040515.623165 s, next control iter: 1743040516.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14014 , header.stamp.nsec: 0 0 temperature: 13.383906 * salinity: 33.391689 , density: 1025.000000 * values[0]: 0.708993 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040516.023165 s.Z@K~, |,AJ"J*J2J:J5?BJ5?nJQ>5vJAHz._@Atx!_@A^~? AqAm&"AASuNA"AZAbAjArAzAAAAC5@A.$rA{@A<ABҚ=AIH"@A+A?Aӥ*Aԭ9?2A ׽:A=BAԭ9?JA ׽RA=٘i)I9{@YAG JJJJJF&K Yb]~?yQAFb779)AB[[f'@[5]~?[+ [[[[BZYY i) ;IJD?inGE _9))_9VnX@yiժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040516.043165 s, next control iter: 1743040516.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040516.443165 s.=FK~,W],AAq= c_@AdV_@A^~? A5lA ;&"AA6uNA"AZAbAjArAzAAA@l5@A<)ѣrAZ@{@A]qAW=A#@AMA]H?A1*Ar9?2A ׽:A#=BAr9?JA ׽RA#=٘i)I9@{@YG JJJJJF&K Y5\~?ywQAF7779!B)GBعE[[6)@[j]~?[[[[[BZYY i) >;ILD?i9 .8)).8$Y@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040516.463165 s, next control iter: 1743040516.843182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14015, header.stamp.nsec: 00 temperature: 13.384145* salinity: 33.391693, density: 1025.000000* values[0]: 0.707909F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040516.863165 s.+MK~,>7,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: -0.056983< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743040516.863298F (some fields omitted in printout)A_@A_@A^~? AfAI&"AAuNA"AZAbAjArAzAAA#{y5@ASjrA0z@A'A@=A$@A A@~?A,*A9?2AUֽ:A=BA9?JAUֽRA=Y@$@y2=b(ٓH+$ -|?`?C?)@ I٘i)I9z@YG JJ::<JJJF&K:x> Y`\~?y"QA$@F77{79#B)MBչE[[*@[I]~?[g[[[[BZYY i) 4 f;ID?i3o! 6))6*r[@lҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040516.883165 s, next control iter: 1743040517.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040517.283165 s.8RTK~,R,AA(\_@A*Q_@A7m^~? AaA% &"AAtNA"AZAbAjArAzAAA.+<5@Aa~zdrA~z@AҹA=A"&@AaA@?A*Ai9?2Acֽ:AYv=BAi9?JAcֽRAYv=٘i)I9z@Y:G JJJJJF&K Y\~?y PAF{7Z7M9&B)UBѹE[[l2,@[\~?[O[[[[BZYY i=) ՚);ID?i&*ٻ ,5)),5\@fΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040517.303165 s, next control iter: 1743040517.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14016., header.stamp.nsec: 0.0 temperature: 13.384416.* salinity: 33.391724., density: 1025.000000.* values[0]: 0.706760.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040517.703165 s.ӺZK~,m,AJ"J*J2J:J4?BJ4?nJ=5vJAQ`@A9_@AX^~? A\Ao&"AACtNA"AZAbAjArAzAAABk4@ALrAy@A[<A=Ad'@A jAu?AX*A9?2AAֽ:A =BA9?JAAֽRA =٘i)I9y@YG JB=JJJJF&K Y\~?yMUPAFb779)YB[[-@[v\~?[m[[[[BZYY i) @:ID?iOe˻ 3))36s^@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040517.723165 s, next control iter: 1743040518.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040518.123165 s.7aK~,],AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066035< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743040518.123301F (some fields omitted in printout)AG:`@A -`@AjD^~? AWA&"AA^tNA"AZAbAjArAzAAA,4@A`FrAox@ACn<AЅ=A (@AgA(^?A *Au9?2Ax:ֽ:A<BAu9?JAx:ֽRA<٘i)I9x@YG J߬C=JJJJF&K Y\~?yOAF79'B)`BιE[[&/@[\~?[[[[[BZYY i) B:ID?i- }-2))}-28_@ êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040518.143165 s, next control iter: 1743040518.523177 s, wait time: 0.380012 s \~?)  rAdjusting time to match Gazebo time: 1743040518.543165 s.IhK~,â,AJ"J*J2J:JBJnJvJA= ףp`@AAc`@A/^~? ARA 1&"AAtNA"AZAbAjArAzAAAy$4@AB 'VrAmx@AN@<A=A-)@A`A Q?Ad*AG9?2Arֽ:AZ<BAG9?JArֽRAZ<٘i)I9mx@Y3G J_JJJJF&K Y \~?yOA EF{7{79)B)eB˹E[[՜0@[8\~?[O[[[[BZYY i) ;ID?iନ 0))0oa@y@꽪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040518.563165 s, next control iter: 1743040518.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14017, header.stamp.nsec: 00 temperature: 13.384708* salinity: 33.391705, density: 1025.000000* values[0]: 0.705581F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040518.963165 s.znK~,,AAffff`@Ab1Z`@AT^~? A)NA&"AAtNA"AZAbAjArAzAAAzA4@AH)zrAw@AԤ6;Ay=AU+@A`FA?Aؕ*Ak9?2Aֽ:Af><BAk9?JAֽRAf> Ym\~?y-OAX+@Fx9*B)kBȹE[[2@[|\~?[[[[[BZYY i) BIWD?i{c )3/)))3/b@qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040518.983165 s, next control iter: 1743040519.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040519.383165 s.uK~,I,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066035< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743040519.383287F (some fields omitted in printout)J"J*J2J:JBJnJvJA(`@Aa`@A^~? AIA1&"AA^tNA"AZAbAjArAzAAAp>E4@AlrApw@AA=A,@AA?A}鋼*A9?2A9׽:A<BA9?JA9׽RA<٘i)I9pw@YG J@JJJJ F&K YT\~?yNAFb77C9)oB[[D3@[`\~?[[[[[BZYY i) ]I9D?i|㾉 -))-hd@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040519.403165 s, next control iter: 1743040519.783181 s, wait time: 0.380016 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14018&, header.stamp.nsec: 0&0 temperature: 13.384972&* salinity: 33.391716&, density: 1025.000000&* values[0]: 0.704525&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040519.803165 s.|A|K~,g,AAa@Axa@A]~? A4EA?&"AA=tNA"AZAbAjArAzAAAWJ)3@AtHrAv@AgAV=A.@AA6?AV*A:9?2A_5׽:AƂ<BA:9?JA_5׽RAƂ<٘i)I9v@YSG JwJJJJ!F&K YD;\~?yyNAF7)7 9,B)tBŹE[[]5@[E\~?[[[[[BZYY i) FID?i˾M ;,));,&e@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040519.823165 s, next control iter: 1743040520.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040520.223165 s.gK~,H,AJ"J*J2J:JBJnJvJAzGa@A(:a@A]~? A@A&"AAtNA"AZAbAjArAzAAA.{3@ArfrAv@AWA a=AO/@A A`f?ADM*A 9?2A׽:A0D<BA 9?JA׽RA0D<٘i)I9v@YG JOJJJJ"F&K Y"\~?yNAF777ؗ9/B)zBE[[t6@[N*\~?[o[[[[BZYY i+E) ID?iݯ<a O*))O*f^g@QYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040520.243165 s, next control iter: 1743040520.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040520.643165 s.sЉK~,)),AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743040520.643273F (some fields omitted in printout)A ףp}a@Afpa@A]~? A<A&"AA sNA"AZAbAjArAzAAAa.^73@A~rAH"v@A}A=A30@A`!OA?AE*A9?2Aeֽ:Aj<BA9?JAeֽRAj<٘i)I9"v@YG JQJJJJ$F&K Y\~?y#MAF{7j790B)BE[[7@[ \~?[[[[[BZYY i) ࡻI%D?iQƹ8 H)))H)0h@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040520.663165 s, next control iter: 1743040521.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14019, header.stamp.nsec: 00 temperature: 13.385205* salinity: 33.391735, density: 1025.000000* values[0]: 0.703587F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040521.063165 s.J "J K~*J2J:J4?,[ D,ABJ4?nJ<5vJA3333a@A$(a@A]~? A8A96&"AAsNA"AZAbAjArAzAAA}H%2@A YrrA8u@Aΰ;Aj=A1@AA`?A#*A\9?2Axֽ:A<BA\9?JAxֽRA YR[~?ymMA1@F77{7m91B)BE[[`W9@[_[~?[[[[[BZYY i)  aID?ip|! '))'Nj@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040521.083165 s, next control iter: 1743040521.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040521.483165 s.u_K~,^,AA\a@Aa@A ]~? A4A&"AA}sNA"AZAbAjArAzAAA_2@A'rA-Eu@A2X<A(=A3@A` A?A:d*AD9?2AMֽ:A<BAD9?JAMֽRA<٘i)I9Eu@YGG J4JJJJ&F&K Y[~?yMAF7789)B[[/:@[[~?[ߧ[[[[BZYY i) I|D?iPLy Y&))Y& k@y ,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040521.523165 s, next control iter: 1743040521.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14020, header.stamp.nsec: 00 temperature: 13.385421* salinity: 33.391747, density: 1025.000000* values[0]: 0.702733F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040521.903165 s.ȝK~,y,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743040521.903301F (some fields omitted in printout)J"J*J2J:JBJnJvJAQb@A5!b@A}]~? AC1A&"AAsNA"AZAbAjArAzAAAO<[@g2@A$ 7rAt@A/f<Ad=Ah4@A@A`?A*A9?2A*bֽ:A-=BA9?JA*bֽRA-=٘i)I9t@YG JiJJJJ(F&K Y{[~?yLAF{793B)BE[[6<@[[~?[ݧ[[[[BZYY i) .IzD?i ɺ y$))y$<Al=A7@AeAIW?A2*A9?2A׽:A&Z=BA9?JA׽RA&Z=٘i)I9s@Y|G J#JJJJ*F&K Y[~?yۧLAF7)795B)BE[[h ?@[ [~?[ڧ[[[[BZYY i) AIyD?iW۠  !)) !$p@fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040522.763165 s, next control iter: 1743040523.143182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040523.163165 s.v}K~,q,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743040523.163295F (some fields omitted in printout)Ab@Ab@A$7]~? A 'A &"AA(sNA"AZAbAjArAzAAA11@AyrA*s@A^AA4=A-n8@ATAWt?A&*A;9?2A?׽:AW=BA;9?JA?׽RAW=YZ*@a8@y =E0BٓH@I@qпqt?@dQ1x? ?>7?)Z*@ I٘i)I9s@Y9G JJ,<JJJ,F&KXx> YVi[~?y>٧KAa8@Fj7j7c97B)BE[[ow@@[@i[~?[s٧[[[[BZYY i) //I5yD?i< %8  )) q@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040523.183165 s, next control iter: 1743040523.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040523.583165 s.K~,S,AJ"J*J2J:J3?BJ3?nJG<5vJA)\b@ACVb@A]~? A#A. &"AAsNA"AZAbAjArAzAAA/iG1@A`/*wrAs@AmA=A9@A`BAŐ?A8*A9?2A\7׽:Aq=BA9?JA\7׽RAq=٘i)I9s@YG JTJJJJ-F&K Y N[~?y֧YKAFŧ7b7.98B)BE[[]A@[M[~?[aا[[[[BZYY i) >IyD?iS\=g :  )) s@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040523.603165 s, next control iter: 1743040523.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14022, header.stamp.nsec: 00 temperature: 13.385861* salinity: 33.391720, density: 1025.000000* values[0]: 0.700961F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040524.003165 s.y K~,P4,AAR+c@A=yc@A]~? A Ac!&"AA&rNA"AZAbAjArAzAAA.-`0@A]H~: 6))6u@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040524.443165 s, next control iter: 1743040524.823180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14023, header.stamp.nsec: 00 temperature: 13.386068* salinity: 33.391747, density: 1025.000000* values[0]: 0.700060F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040524.843165 s.K~,5,AAp= c@A~c@A\~? AA!&"AA3rNA"AZAbAjArAzAAAw_i0@ADrrAq@A(<A׾=Ax=@ACA?AHl*A9?2A@ֽ:A =BA9?JA@ֽRA =٘i)I9q@YG JJJJJ1F&K Y)Z~?y*ЧCJAF{7j79;B)BE[[F@[ ; 0))0Vw@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040524.863165 s, next control iter: 1743040525.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040525.263165 s.K~,#P,AJ"J*J2J:JBJnJvJAc@A¿c@A&\~? AA(!&"AAprNA"AZAbAjArAzAAAF0@AiQqrA@*q@Ap<Aі=A>@AgA?A~*A9?2AN3ֽ:A" =BA9?JAN3ֽRA" =YU0@w>@y\͖=p<ٓH ͂GeĿ4?r1ǚ?Oղ ??)U0@ I٘i)I9*q@YG JڞJr<JJJ3F&Kw> YGZ~?yΧIA>@F777X9=B)BE[[tG@[Z~?[֧[[[[BZYY i) _|IÄD?ie>O4; J\))J\kx@gϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040525.283165 s, next control iter: 1743040525.663178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14024., header.stamp.nsec: 0.0 temperature: 13.386312.* salinity: 33.391750., density: 1025.000000.* values[0]: 0.699109.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040525.683165 s.lK~,k,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083946< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200932 time: 1743040525.683376F (some fields omitted in printout)A(\d@Anc@A?\~? AAa!&"AA8KrNA"AZAbAjArAzAAA.9/@A̤orAâp@AB/:<A:=A#@@ÅA@(?A*A9?2A&mֽ:AS=BA9?JA&mֽRAS=٘i)I9p@YuG JJJJJJ4F&K YeZ~?y`ͧyIAFZ7SI7#9NT; /))//z@yΫҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040525.683165 s, next control iter: 1743040526.083179 s, wait time: 0.400014 s rAdjusting time to match Gazebo time: 1743040526.103165 s.K~,,AJ"J*J2J:JBJnJvJAQ8d@ABF+d@A2\~? AA "&"AA`%rNA"AZAbAjArAzAAAR^/@AQnrAp@A$ ;Aߛ=A|A@AA`$L?A*A9?2Aֽ:A20=BA9?JAֽRA20=٘i)I9p@Y"G J&JJJJ5F&K YZ~?y˧IAF9=B)BE[[8J@[Z~?[է[[[[BZYY i) YIuD?i>y; '))'{@Q֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040526.143165 s, next control iter: 1743040526.503181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743040526.523165 s.K~,{,AAHznd@A ad@Ar\~? AA6"&"AAQqNA"AZAbAjArAzAAAu.@Al'mrAHo@A(AҞ=AB@AA3k?Aݣ*A9?2A$׽:A=BA9?JA$׽RA=٘i)I9o@YG J8JJJJ7F&K YZ~?yʧHAFŧ7b79>B)BE[[ÖK@[Z~?[5֧[[[[BZYY i) ID?i>; N))Ng}@SڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040526.563165 s, next control iter: 1743040526.923177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14025, header.stamp.nsec: 00 temperature: 13.386580* salinity: 33.391747, density: 1025.000000* values[0]: 0.698042F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040526.943165 s.J "J *J 2J :J 2?BJ 2?nJ a;5_dK~vJ,_],AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083946< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743040526.943315F (some fields omitted in printout)Aq= ףd@A͖d@AX\~? AA\\"&"AAqNA"AZAbAjArAzAAApP}-@A꧈EkrAo@AkhA=A,D@AA?A#ƥ*A9?2Ai=׽:A/=BA9?JAi=׽RA/=٘i)I9o@Y{G JѣJJJJ8F&K YpZ~?y2ɧIHAFZ7Z79)ƯB[[L@[^sZ~?[֧[[[[BZYY i) ID?i?ʧ; /))/l~@ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040526.963165 s, next control iter: 1743040527.343181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040527.363165 s.K~,>,AAd@Ahd@AE?\~? AA"&"AAqNA"AZAbAjArAzAAADMB-@A8>?jrA.{n@A͏OAB=AxE@AAy?Af*AŞ9?2A ׽:AL7=BAŞ9?JA ׽RAL7=Ya7@?gE@y>=>=PٓH!ȴ`k(?or `?)a7@ I٘i)I9{n@Y%G JwJ<JJJ9F&K2x> YTZ~?yȧGAgE@Fj7SI7N9?B)˯BE[[ PN@[iXZ~?[:ק[[[[BZYY i) 壼I;D?i?n۵; K))K@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040527.383165 s, next control iter: 1743040527.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14026&, header.stamp.nsec: 0&0 temperature: 13.386831&* salinity: 33.391739&, density: 1025.000000&* values[0]: 0.696972&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040527.783165 s.ZK~,,AJ"J*J2J:JBJnJvJA(\e@A/Qe@A%\~? Ax A"&"AAqNA"AZAbAjArAzAAA-L~,@A,NirAm@AzAL=A/F@AAg?AP*A9?2Aֽ:A}=BA9?JAֽRA}=٘i)I9m@YG JVJJJJ;F&K Ye8Z~?y1ȧkGAF7)79)ЯBE[[`O@[=Z~?[ا[[[[BZYY i) IID?i?>; Q))Q2@KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040527.823165 s, next control iter: 1743040528.183180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040528.203165 s.K~,  ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083946< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743040528.203290F (some fields omitted in printout)AQEe@A8e@A \~? A A"&"AABeqNA"AZAbAjArAzAAAb! ,@ASR(irAJm@A,;A=AG@A@(A?A}*A9?2A:ֽ:A=BA9?JA:ֽRA=٘i)I9Jm@YkG J*JJJJ<F&K Y:Z~?yǧFAF{7j79@B)֯BE[['Q@[&#Z~?[ا[[[[BZYY i) =ID?iw)?; ))O@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040528.223165 s, next control iter: 1743040528.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040528.623165 s.] K~,v',AJ"J*J2J:JBJnJvJAGze@AY8me@Aj[~? A Aq"&"AA_>qNA"AZAbAjArAzAAA6Gp+@APkhrAl@A/\<A=AHA3:A+?A8/Ǽ*A9?2Auֽ:A=BA9?JAuֽRA=٘i)I9l@YG J3üJJJJ=F&K Y Z~?y/ǧFAF{79)ۯBE[[]]R@[Z~?[ڧ[[[[BZYY i) BID?i9?; ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040528.643165 s, next control iter: 1743040529.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14027 , header.stamp.nsec: 0 0 temperature: 13.387132 * salinity: 33.391727 , density: 1025.000000 * values[0]: 0.695842 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040529.043165 s.K~,B,AA= ףe@A/oe@A[~? A A"&"AA_qNA"AZAbAjArAzAAA`/*@Ay2 grAk@AG b<A-[=AoGAIAe?A)˼*A 9?2A"ֽ:AG\=BA 9?JA"ֽRAG\=٘i)I9k@YG JaɼJJJJ?F&K YY~?yƧFAF777x9AB)BE[[S@[Y~?[Sۧ[[[[BZYY i) SrID?iK?R<  )) M@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040529.063165 s, next control iter: 1743040529.443181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040529.463165 s.\K~,],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: -0.083946< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040529.463311F (some fields omitted in printout)Affffe@Ahv[e@Aξ[~? AA"&"AAEpNA"AZAbAjArAzAAAU7*@A.=grAhRk@As;Af=A>FA`VA ?A˼*AЏ9?2A~ֽ:A/=BAЏ9?JA~ֽRA/=YH=@L5Fye=3;ٓH`?@XMei? 嵿?=|??)H=@ I٘i)I9Rk@Y8G J˼J[A<JJJ@F&Kx> YY~?yǧEA5FFC9)BE[[g U@[Y~?[ܧ[[[[BZYY i) ȼI0D?i;W? < AW ))AW :d@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040529.503165 s, next control iter: 1743040529.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14028, header.stamp.nsec: 00 temperature: 13.387443* salinity: 33.391731, density: 1025.000000* values[0]: 0.694582F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040529.883165 s.yK~,@x,AA(f@Ahf@A[~? A=Aw #&"AApNA"AZAbAjArAzAAAօW[)@ANϬfrA§j@AlAJN=A|DA@aA vo?AL"ʼ*A9?2Aֽ:A5=BA9?JAֽRA5=٘i)I9j@YG J(˼JJJJAF&K YY~?ywǧ3EAF77{79BB)BE[[_V@[Y~?[dާ[[[[BZYY i) ϼIvD?iJd?2< / ))/ @\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040529.903165 s, next control iter: 1743040530.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040530.303165 s.W$K~,{g,AJ"J*J2J:J1?BJ1?nJG:5vJAQf@A2Df@A[~? AA#&"AAСpNA"AZAbAjArAzAAA]h!(@AE, vfrA6i@ABHA?=AֈCAiA ?Arɼ*AЋ9?2A$׽:AH2=BAЋ9?JA$׽RAH2=٘i)I9i@YiG JɼJJJJCF&K YSY~?yǧDAF779)BE[[eW@[wY~?[)[[[[BZYY i) 2׼ID?is?w< ))Ą@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040530.323165 s, next control iter: 1743040530.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14029., header.stamp.nsec: 0.0 temperature: 13.387752.* salinity: 33.391731., density: 1025.000000.* values[0]: 0.693306.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040530.723165 s.+K~,H,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083946< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743040530.723319F (some fields omitted in printout)Azf@A&zf@Aq[~? AKAY##&"AAzpNA"AZAbAjArAzAAA۸_(@AC&{9frAhTi@AkA^==A8BA-oA=?AT^˼*A9?2A׽:A=BA9?JA׽RA=٘i)I9Ti@YG JʼB=JJJJDF&K Y#sY~?y@ȧGDAF79)B[[6Y@[8Y~?[[[[[BZYY iD|) s޼ID?iԁ?7/&< 17))17Bt@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040530.743165 s, next control iter: 1743040531.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040531.143165 s.[/2K~,*,AJ"J*J2J:JQ1?BJQ1?nJ95vJA ףpf@A/Ief@A W[~? AAw)#&"AA$SpNA"AZAbAjArAzAAA,>3'@AJfrAh@AAA1(=A1@A rA u?A-м*A99?2Aֽ:A=BA99?JAֽRA=٘i)I9h@Y G JgͼC=JJJJEF&K YVY~?yȧCAF)7b7n9CB)B}E[[PZ@[UoY~?[#[[[[BZYY i) Io E?i?1< ))"@?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040531.163165 s, next control iter: 1743040531.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040531.563165 s.8K~,N ,AA3333f@A0g+f@A=[~? AAg,#&"AA+pNA"AZAbAjArAzAAA"pE$'@A-/ frAg@A:AJ=A?A`&rA`_{aASԼ*A9?2A&Qֽ:A}=BA9?JA&QֽRA}=YfD@?yJ=3:ٓHC? O¿@@@ρR?E?)fD@ I٘i)I9g@Y. G JѼB=JP;JJJGF&Kw> Y ;Y~?yɧYCA?Fb7799)BzE[[[@[NVY~?[a[[[[ZZ¸BZYY i¸=) ټIE?i?.9< =}))=}<ц@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040531.583165 s, next control iter: 1743040531.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14030, header.stamp.nsec: 00 temperature: 13.388077* salinity: 33.391735, density: 1025.000000* values[0]: 0.692024F (some fields omitted in printout): ;Y~?):ɧ rAdjusting time to match Gazebo time: 1743040531.983165 s.?K~,,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: 0.082989< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040531.983294F (some fields omitted in printout)A\(g@Axg@A#[~? AA0,#&"AAepNA"AZAbAjArAzAAA&@AͨfrAgCg@A.<AL=APu>AoA7Aټ*A(|9?2Aս:At=BA(|9?JAսRAt=٘i)I9Cg@Y G JּC=JJJJHF&K Y%Y~?y5˧BAF7{79) BwE[[\@[=Y~?[[[[[ZZBZYY i) ˡͼIB+E?i@?`A< [!))[!-@yagYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040532.003165 s, next control iter: 1743040532.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040532.403165 s.&FK~,,AAQ^g@AvQg@A [~? A_A(#&"AA oNA"AZAbAjArAzAAAH%@AEfrAZxf@Ao<A#=A-=AhA@+A׸*A-9?2Aս:A߆=BA-9?JAսRA߆=٘i)I9xf@YD G JJJJJIF&K Y@Y~?y}̧gBAF779DB)BtE[[>^@[4%Y~?[K[[[[ZZBZYY i) IQ elevatorAngleAction: 0.082989< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743040533.243299F (some fields omitted in printout)Aףp=g@Av1g@ANZ~? AcA{#&"AAuoNA"AZAbAjArAzAAA v$@A˾>frA d@A]ou:AԆv=A:A YA@fAt*AF9?2Agֽ:Aɻm<BAF9?JAgֽRAɻm<٘i)I9d@Y9 G J JJJJLF&K YrX~?y ϧuAAFb77c9)BnE[[u`@[X~?[[[[[ZZBZYY i) I4aE?i?na<  ))) )@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040533.263165 s, next control iter: 1743040533.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040533.663165 s.ZK~,qj,AJ"J*J2J:Jc0?BJc0?nJ85vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14032, header.stamp.nsec: 00 temperature: 13.388785* salinity: 33.391724, density: 1025.000000* values[0]: 0.689021F (some fields omitted in printout)Ah@ADg@AsZ~? A# A #&"AA YX~?y7ѧ9AA69F{7{7.9)$BoE[[b@[X~?[[[[[ZZBZYY i=) ̻ItE?iٵ?3h< {)){0@zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040533.683165 s, next control iter: 1743040534.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040534.083165 s.DaK~,R,AA)\5h@AND(h@AZ~? A AZ"&"AA@oNA"AZAbAjArAzAAAM$#8v#@AE=%grA-dc@AĀ}A<A7A-BAMAפ*A9?2Acֽ:A BA9?JAcֽRA ٘i)I9dc@Yd G JJJJJOF&K YX~?y`ӧ@AF779))BlE[[Mhc@[=X~?[[[[[ZZBZYY i) 퓼IE?io?2q< ))"֊@~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040534.103165 s, next control iter: 1743040534.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040534.503165 s.gK~,;4,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073505< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743040534.503284F (some fields omitted in printout)J"J*J2J:JBJnJvJARkh@A^y^h@AZ~? A" A"&"AAoNA"AZAbAjArAzAAA%D"@A ޑhrAb@A\A:U(<A|6Ax3AAx*A9?2AYֽ:ABA9?JAYֽRA٘i)I9b@Y G J JJJJPF&K Y-yX~?yէ@AFj7Z79)-BiE[[d@["X~?[[[[[ZZBZYY i) JIE?i?z< cV))cVBz@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040534.523165 s, next control iter: 1743040534.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14033, header.stamp.nsec: 00 temperature: 13.389104* salinity: 33.391720, density: 1025.000000* values[0]: 0.687739F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040534.923165 s.;nK~,,AA{Gh@AF};h@A8nZ~? A` Au"&"AAnNA"AZAbAjArAzAAA;8g>"@A?WTirANb@AY˙AɜAK5A!A`o便A(/*AK9?2Asֽ:AZpBAK9?JAsֽRAZpʕI٘i)I9b@Y G JYJJJJQF&K Y]X~?yק@AF7{79)0BfE[[ge@[hX~?[g[[[[ZZBZYY i\y=) B|IE?i)?< ))/@yK4=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040534.963165 s, next control iter: 1743040535.323181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743040535.343165 s. elevatorAngleAction: 0.082751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201242 time: 1743040535.763416F (some fields omitted in printout)A i@A{h@A!;Z~? AZAΚ"&"AAqnNA"AZAbAjArAzAAAjEҾ!@A$krA-b@A_<A/A2AIA@~9ÿA:Y'*A.9?2Aֽ:AD¼BA.9?JAֽRAD¼٘i)I9-b@Y G JJJJJTF&K Y&X~?yܧ @AFŧ7b7$9)3B`E[[yh@[,lX~?[n[[[[BZYY i) _QIE?i8?/܎< ))^@y䏪=)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040535.803165 s, next control iter: 1743040536.163258 s, wait time: 0.360093 s rAdjusting time to match Gazebo time: 1743040536.183165 s.˂K~,V ,AJ"J*J2J:JBJnJvJA(\Bi@Aۂ5i@A!Z~? AAz"&"AA}nNA"AZAbAjArAzAAADn @AK3lrA(b@A _<Ak.As]1A@A.ſA":*A79?2Aֽ:ABA79?JAֽRA㼙٘i)I9(b@Y G J!<JJJJUF&K Y{ X~?y/ާ?AF779)]E[[i@[VX~?[[[[[BZYY i) ;IE?i?Q< OI))OI쿩@j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040536.203165 s, next control iter: 1743040536.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040536.603165 s.84K~,&,AAQxi@Ad]Fki@AwZ~? AAW"&"AAzWnNA"AZAbAjArAzAAAeЪ@A`~ZmrA Bb@A;AYA]0A`YA3ƿAM;*A9?2AQnֽ:AC^BA9?JAQnֽRAC^٘i)I9Bb@Y G Jq;JJJJWF&K YW~?yX?AF77779)2B[[j@[AX~?[ [[[[BZYY i) &&IF?i?!< [))[鿩@N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040536.623165 s, next control iter: 1743040537.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14035 , header.stamp.nsec: 0 0 temperature: 13.389372 * salinity: 33.391697 , density: 1025.000000 * values[0]: 0.686876 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040537.023165 s.J "J *J 2J :J /?BJ /?nJ a85vJ ZK~,J|A,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743040537.023316F (some fields omitted in printout)AHzi@A\Wi@ASY~? AAH1"&"AAD1nNA"AZAbAjArAzAAAmy@A9nrAyb@AAb}AS.A`_A`ȿA|*,<*AL9?2A` ֽ:ABAL9?JA` ֽRA٘i)I9yb@Y G J<JJJJXF&K YW~?yY?AF{7j79)0BZE[['l@[-X~?[[[[[BZYY i) ˈI;2F?i@f< Ch))Ch翩5@T*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743040537.043165 s, next control iter: 1743040537.423184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743040537.443165 s.7ÖK~,>]\,AAq= i@Ai@ARY~? A7A"&"AAB nNA"AZAbAjArAzAAAzJ@AgHorAKb@AmXA⍽A[-A@}AʿApj<*AJ{9?2Aս:A+BAJ{9?JAսRA+٘i)I9b@Y G JH<JJJJYF&K Y5W~?y?AF777N9)-BWE[[Zm@[X~?[[[[[BZYY i) )I^OF?i{@^k< {)){忩<Ϗ@E*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040537.463165 s, next control iter: 1743040537.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14036, header.stamp.nsec: 00 temperature: 13.389318* salinity: 33.391689, density: 1025.000000* values[0]: 0.687217F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040537.863165 s.+K~,>w,AJ"J*J2J:JBJnJvJAj@A72 j@AxY~? AA!&"AAxmNA"AZAbAjArAzAAA8{_G@A7zbqrA:c@AuA@AF,AYA<[̿A,<*Au9?2A?ս:A BAu9?JA?սRA YEW@P4,y<|uٓHZL??`ۿtz?B?آ`?)EW@ I٘i)I9:c@YK G J<JJJJ[F&K> YʟW~?y?A4,F{7Z79)*BTE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #89q/Y^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY ibC=) Ю׻)W*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040537.903165 s, next control iter: 1743040538.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040538.283165 s.4RK~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000> elevatorAngleAction: 0.047701< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743040538.283294F (some fields omitted in printout)A(\Oj@AشRBj@AƤY~? AA3!&"AAmNA"AZAbAjArAzAAA'p@A&]rrAc@AGA#A*A3A -οA,<*AJq9?2Ae0ֽ:A!BAJq9?JAe0ֽRA!٘i)I9c@Y G J<<JJJJ\F&K YaW~?yW?AF77{79CB)&BQE[[qo@[KW~?[[[[[BZYY i=) (ImF?iG @Eִ< )) ࿩4 @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040538.303165 s, next control iter: 1743040538.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14037., header.stamp.nsec: 0.0 temperature: 13.389161.* salinity: 33.391689., density: 1025.000000.* values[0]: 0.688054.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040538.703165 s.պK~, ,AJ"J*J2J:JBJnJvJAQj@A_xj@AFY~? AAx!&"AAmNA"AZAbAjArAzAAAd㏌@AvutrAJd@AB ;AUA)AZA0iпAN<*AqB:?2AWj½:A BAqB:?JAWj½RA ٘i)I9Jd@Y G J<B=JJJJ^F&K YlW~?y.S@AF)7ŧ79)!BOE[[q@[}W~?[b [[[[BZYY i) gcIF?i@-U< r޿))ߙݿc@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040538.723165 s, next control iter: 1743040539.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040539.123165 s.8K~,a,AAGj@A[z4խj@AsY~? A!AB!&"AAumNA"AZAbAjArAzAAAQR;@A RvrA7d@AmH<AA)A@A`GпAjX<*AP:?2AĽ:ABAP:?JAĽRA٘i)I9d@YQ G J<C=JJJJ_F&K YSW~?y@AFb7b7y92B) B[[Fr@[W~?[$[[[[BZYY i) zIܬF?i@V< *ۿ))*ۿYE@y=D*YنYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040539.163165 s, next control iter: 1743040539.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040539.543165 s.IK~,,AJ"J*J2J:JF0?BJF0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.062777< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743040539.543316F (some fields omitted in printout)A= ףj@AŪAj@A[Y~? A$Aj !&"AAPmNA"AZAbAjArAzAAA_20{@Av@n!xrAe@A<A}AU(A@A:ѿA<*A_:?2A; ǽ:A1BA_:?JA; ǽRA1٘i)I9e@Y G J<JJJJ`F&K Y%:W~?y#AAF7D9)BLE[[|s@["W~?[])[[[[BZYY i) 6>IF?i@d< oؿ))oؿ?@*YQYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040539.583165 s, next control iter: 1743040539.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14038, header.stamp.nsec: 00 temperature: 13.388922* salinity: 33.391678, density: 1025.000000* values[0]: 0.689210F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040539.963165 s.wK~,,AAffff&k@Aڬ\k@ACY~? A'A &"AA+mNA"AZAbAjArAzAAAWK+0V@A~vKzrA5f@A-<AA&A@֫AbOҿA5<*Amg:?2Aaɽ:AdBAmg:?JAaɽRAdY+]@&y i.<ٓHzu`J?@?K6!`|?n??`?)+]@ I٘i)I95f@Y G J<J᥼JJJbF&KH> Y!W~?ySAA&F779)BIE[[t@[LW~?[ .[[[[BZYY i) IQF?i@< WNֿ))WNֿE|@-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040540.003165 s, next control iter: 1743040540.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040540.383165 s.K~,+,AJ"J*J2J:JBJnJvJA(\k@A}Ok@A+Y~? A*A &"AAmNA"AZAbAjArAzAAA4v4@A$c{rAf@AZAMܨAѮ%AMAӿAi<*A$k:?2Ay˽:A BA$k:?JAy˽RA ٘i)I9f@Y G Jb<JJJJcF&K Y W~?y BAFZ7SI791B)BFE[[u@[ߐW~?[2[[[[BZYY i) 4㒺IG?i[@< 7ӿ))7ӿM@r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040540.403165 s, next control iter: 1743040540.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14039", header.stamp.nsec: 0"0 temperature: 13.388680"* salinity: 33.391663", density: 1025.000000"* values[0]: 0.690466"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040540.803165 s.uAK~,sg3,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.062777< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743040540.803284F (some fields omitted in printout)Ak@Aބk@AY~? AC.A S &"AAYlNA"AZAbAjArAzAAA.Y@Ao_~rAg@A.A٤Acr$A@VAӿAN<*Al:?2Aͽ:A BAl:?JAͽRA ٘i)I9g@Y G J<JJJTFJdF&K YBV~?yD|BAF7{79)B[[w@[~W~?[7[[[[BZYY i) `pI4G?i!#@< yѿ))yѿr@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040540.823165 s, next control iter: 1743040541.203174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743040541.223165 s.gK~,HN,AJ"J*J2J:JBJnJvJAzk@Aǵk@ARX~? A1A &"AAylNA"AZAbAjArAzAAAu@Az#rAK>h@A͙AA'#A e&AsԿA<*Al:?2AUϽ:Aޡ BAl:?JAUϽRAޡ ٘i)I9>h@YY G J<JJJJfF&K YV~?y BAF77n9)BCE[[Px@[:mW~?[<[[[[BZYY i) -:IXG?iL'@#< Ͽ))ϿyJ@T*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040541.263165 s, next control iter: 1743040541.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040541.643165 s.yK~,*i,AA ףpk@A/Iek@AX~? A]5A&"AAlNA"AZAbAjArAzAAA~{k@AUYrAh@AKAfA!ANAY~տA<*Ak:?2Apѽ:AEBAk:?JApѽRAE٘i)I9h@Y G J<JJJJgF&K YV~?y6cCAF99)B@E[[y@[ \W~?[A[[[[BZYY i) :I}G?i+@Y<  ̿)) ̿X@*YFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14040, header.stamp.nsec: 0]0 temperature: 13.388394* salinity: 33.391647, density: 1025.000000* values[0]: 0.691799F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743040541.663165 s, next control iter: 1743040542.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040542.063165 s.K~,c ,AJ"J*J2J:J1?BJ1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.062777< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040542.063302F (some fields omitted in printout)A33333l@Ax $(&l@AX~? A!9A&"AAxlNA"AZAbAjArAzAAAbB6@AZn饄rAai@A)AN*Ao AA@TֿAŶ<*Aj:?2Awӽ:A.BAj:?JAwӽRA.Yc@k y-*z)ٓH`?@Ǯ? q`? ? e@?)c@ I٘i)I9i@Y G J<J3<JJJhF&Kw> YV~?yoCAk F77779)B>E[["z@[JW~?[F[[[[BZYY i0=) Ǟ";I$G?i.@K< ;Oʿ));Oʿ |@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040542.083165 s, next control iter: 1743040542.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040542.483165 s.}_K~,,AA\hl@Aّ[l@AX~? A =A8&"AAUlNA"AZAbAjArAzAAAd]]@AErAj@AN<Ab@A AA ,׿A<*Ai:?2AԽ:ABAi:?JAԽRA󼙘٘i)I9j@Y{G J<JJJJjF&K Y2V~?y+DAFŧ7b79)B[[{@[E:W~?[K[[[[BZYY i) q_;IcG?i1@l< ǿ))ǿ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040542.503165 s, next control iter: 1743040542.883183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14041, header.stamp.nsec: 00 temperature: 13.388138* salinity: 33.391621, density: 1025.000000* values[0]: 0.693068F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040542.903165 s.$K~,ι,AJ"J*J2J:JBJnJvJAQl@Al@ApX~? AAA&"AAh3lNA"AZAbAjArAzAAASb9 @A;WgrAj@Al|<AA+AJBAؿAd<*Ac:?2A(ս:AN?BAc:?JA(սRAN?9٘i)I9j@YG J<JJJJkF&K Yv|V~?yDAFb779)ܯB;E[[}@[)W~?[Q[[[[BZYY i) ";IiG?iw5@F< Ëſ))Ëſ꬗@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040542.923165 s, next control iter: 1743040543.303182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040543.323165 s.wK~,),AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072847< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201012 time: 1743040543.323439F (some fields omitted in printout)AGzl@AK!ql@AX~? AJEA&"AAZlNA"AZAbAjArAzAAA8 @AiVrA%k@A}f<AfAbAAؿA˖<*A\:?2A"ֽ:A8cBA\:?JA"ֽRA8c𼙘٘i)I9%k@YG J<JJJJlF&K YeV~?y#DA F{7{7d90B)ׯB8E[[C~@["W~?[iV[[[[BZYY i) n;IJH?it9@a< /ÿ))/ÿC@y$=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040543.343165 s, next control iter: 1743040543.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14042*, header.stamp.nsec: 0*0 temperature: 13.387917** salinity: 33.391624*, density: 1025.000000** values[0]: 0.694154*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040543.743165 s.J "J *J 2J :J 1?BJ 1?nJ U:5vJ WK~,,AAףp= m@A5l@AtX~? AIA{G&"AAkNA"AZAbAjArAzAAAF` @A,v{rA3k@AlI;AcZAAAeٿA|<*AlV:?2Ag;ֽ:ARBAlV:?JAg;ֽRAR٘i)I9k@YjG J<JJJJnF&K YNV~?yS(WEA F77/9)ӯB5E[[o@[ W~?[[[[[[BZYY i) ;IAH?i=@< C))C٘@)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040543.763165 s, next control iter: 1743040544.143182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040544.163165 s.t}K~,q ,AA@m@A"2m@AR^X~? ANA&"AAkNA"AZAbAjArAzAAA{@AK1rrA l@Ai/ʻAaAA`}AgڿA,ޖ<*AO:?2A3ֽ:AMBAO:?JA3ֽRAMYoIj@&yvʻٓH`@?`r? |@H?1?Ey?)oIj@ I٘i)I9 l@YG J<Jng<JJJoF&K{> Y:V~?yA.EA Fb779)ϯB[[fO@[lV~?[Ma[[[[BZYY i) ;I}jH?ii@@I< y))yaq@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040544.183165 s, next control iter: 1743040544.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040544.583165 s.J "J *J 2J :J 1?BJ 1?nJ x:5vJ K~,S%,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072847< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743040544.583279F (some fields omitted in printout)A)\um@A5hm@AHX~? ARA%&"AAkNA"AZAbAjArAzAAAAA@AMMArAl@AblAAA`S8A`u.ۿA<*AI:?2A@ֽ:A2BAI:?JA@ֽRA2٘i)I9l@YG JE<JJJJpF&K Y3%V~?y.4FA F)7ŧ79)˯B3E[[@@[V~?[f[[[[BZYY i) .&"AAnkNA"AZAbAjArAzAAA}02@A )l&rAJm@A@wA$dA@A`QA;ۿAjߖ<*AC:?2Aֽ:ABAC:?JAֽRA٘i)I9m@YQG J<JJJJrF&K  9YNV~? 9y:kFAF779)ǯB[[E|@[V~?[l[[[[BZYY i) A`A ܿAb<*A=:?2A@ֽ:A|BA=:?JA@ֽRA|٘i)I9m@YG Jo<JJJJsF&K YjU~?y @FAF7)7Y9)ïB0E[[\@[V~?[2r[[[[BZYY i) U# elevatorAngleAction: 0.072847< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743040545.843290F (some fields omitted in printout)Ap= n@A n@A] X~? APaA&"AA?NkNA"AZAbAjArAzAAA=lx?AK{-rAn@Ag;AA)A HXA|ݿA<<*A8:?2Ah׽:A=&BA8:?JAh׽RA=&٘i)I9n@YG Jz<JJJJtF&K YU~?yE#GAFZ7Z7$9/B)B,E[[y@[hV~?[w[[[[BZYY i) >%3= !))!tǛ@1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040545.863165 s, next control iter: 1743040546.243175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040546.263165 s.$K~,0ؐ,AJ"J*J2J:JU2?BJU2?nJ:5vJALn@A?n@A2W~? ArfA&"AAh/kNA"AZAbAjArAzAAAM0?As>OrAEn@AJU<A#bA2A A;޿A<*A2:?2A׽:AABA2:?JA׽RAAYdp@1Ay_#V<ٓH J?`e?@jQŖ?@^?? ?)dp@ I٘i)I9n@Y0G J<JJJJvF&Ky> YU~?yLGAAF)7b79)B[[;@[V~?[}[[[[BZYY i=) B elevatorAngleAction: 0.081813< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743040547.103280F (some fields omitted in printout)J"J*J2J:JBJnJvJAQn@A+MFn@AW~? AqAO&"AAKjNA"AZAbAjArAzAAA翾?AA}+ϦrA}o@Aq[$<AABAeA`7߿A]<*AR$:?2A`׽:AKBAR$:?JA`׽RAK٘i)I9}o@YG J<JJJJxF&K YU~?yY>HAF777 9/B)B'E[[3d@[ZV~?[[[[[BZYY i) xaK~,d],AJ"J*J2J:JBJnJvJAq= #o@A3mo@A W~? A8|A+y&"AASjNA"AZAbAjArAzAAAy$?ArA|p@Ad:AfAxAʽA AWݠ<*Ag:?2A7ֽ:ABAg:?JA7ֽRA٘i)I9|p@Y]G J><JJJJ{F&K YSU~?yfHAF7779)B$E[[@[aV~?[[[[[BZYY i) . ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081813< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743040548.363310F (some fields omitted in printout)AYo@A)Lo@AW~? AA` &"AA+jNA"AZAbAjArAzAAA.?AnvrAEq@ADAA AfA@A<*A :?2AVֽ:ABA :?JAVֽRAYk_w@* yٓH?@$?` ` YwU~?ymbIA F79)B[[@[wV~?[[[[[BZYY i) S׽:ABA9?JAr>׽RA٘i)I9"r@Y^G JA<JJJJF&K YVU~?y%|0JAF7{7y9)B[[C@[aV~?[![[[[BZYY i) ϖ elevatorAngleAction: 0.081813< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743040549.623298F (some fields omitted in printout)AGo@A,o@AaW~? AؓA&"AA3LjNA"AZAbAjArAzAAASӎAz@rAr@A)<AݹAA`w޿A`AZ<*A#9?2A@׽:ABA#9?JA@׽RA٘i)I9r@YG J<JJJJF&K YEU~?yDJAF77j7D9)BE[[BՇ@[WV~?[\[[[[BZYY i) 3[ Y4'U~?ynKA3 F77779)BE[[O@[&DV~?[[[[[BZYY i) B elevatorAngleAction: 0.081813< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743040550.883290F (some fields omitted in printout)A(p@APOp@A0W~? AAC&"AAjNA"AZAbAjArAzAAA't6qAnrApt@Aq;AĎAA fܿAVA<*AF9?2Aֽ:A+BAF9?JAֽRA+ɕI٘i)I9pt@YG J<JJJJF&K YU~?yKA"Fb779)B[[@[:V~?[[[[[[BZYY i) ;p@A9!W~? A1A &"AAiNA"AZAbAjArAzAAA zrTA).~rAu@A1ADpAAۿA@AL<*A9?2Aֽ:AIBA9?JAֽRAI٘i)I9u@Y(G J<JJJJF&K Y U~?y7OLA#F77j7o9)BE[[@[2V~?[Ǩ[[[[BZYY i)  elevatorAngleAction: 0.090707< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743040552.143303F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=q@A/d0q@AmW~? ArA=&"AAiNA"AZAbAjArAzAAAQ V{ADJՕrAhv@AorAccAAڿAA<*A9?2A!vֽ:ABA9?JA!vֽRA٘i)I9hv@YG J<JJJJF&K YT~?yo/MA&F{7{7 9)|BE[[:@[!V~?[Ԩ[[[[BZYY i) ڿ'?v@?!`ڿ?"?W}`0?)5@ I٘i)I9w@YaG Ju<J,JJJF&Ksx> YT~?ysMA['F!9*B)rB[[ˋ@[V~?[+ۨ[[[[BZYY i)  ,AJ"J*J2J:J:4?BJ:4?nJ<5vJA\q@A*Uq@AgV~? AȩA8&"AAɏiNA"AZAbAjArAzAAAոA5ZHrAw@A;ATAApؿA@ Ao<*A9?2ApE׽:A/BA9?JApE׽RA/٘i)I9w@YG J<JJJJF&K YLT~?yxNA(F77#9)lB[[[@[V~?[[[[[BZYY i) ]@ elevatorAngleAction: 0.090707< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743040553.403272F (some fields omitted in printout)AQq@Aq@AV~? AϩA6&"AA8{iNA"AZAbAjArAzAAA2FA)A7*"rAfx@Ah[<AбA:A`:׿AyLA<*A9?2A׽:ABA9?JA׽RA٘i)I9fx@Y/G J<JJJJF&K YT~?y{ȨNA*Fj7SI7d%9)B)fBE[[@[ V~?[K[[[[ZZZZ¸>BZYY i¸>-) Q YT~?yOAP.Fj7*9)SBE[[@[>U~?[ [[[[ZZZZBZYY i) vA3zrA|@A*)AeڼA_A}ҿAAB<*A9?2A2ֽ:A[:BA9?JA2ֽRA[:٘i)I9|@YG J^<JJJJF&K YT~?yQA2F7777$09)AB[[^E@[,U~?[0[[[[ZZZZBZYY i) Z5vJAp= Ws@A9Js@AV~? AAJ^&"AAhNA"AZAbAjArAzAAAiAkrAo}@A7A^0AAםѿA`A& <*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9o}@Y@G J<JJJJF&K YT~?yD|QA3F7719(B)JJJF&Kv> YT~?y tQA]4Fj7j739)9B[[b@[U~?[[[[[ZZZZBZYY isQ~) 4cֽ:Av<BAU9?JA>ֽRAv<٘i)I9~@YG J<JJJJF&K YU{T~?y~kQA6F59)8BE[[@[U~?[m$[[[[ZZZZBZYY i`g) ZWP] ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072951< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199492 time: 1743040558.443288F (some fields omitted in printout)Aq= ct@A}>Vt@AH_V~? A'Ax &"AAVhNA"AZAbAjArAzAAAm:t Ap'WsA}@A^AJX=AڿA j3ʿA@A*Am9?2Aֽ:AY6<BAm9?JAֽRAY6<٘i)I9}@YG JۥJJJJF&K YhT~?yT-PQA:F77:9)8B[[p@[EU~?[8[[[[BZYY i) 3 ,AJ"J*J2J:JBJnJvJAt@ARt@ADXV~? A/A^ &"AAIhNA"AZAbAjArAzAAAR AHYJ?sA}@A}CqAw=Ah5ؿA WȿAAg#*A9?2A?"׽:A=BA9?JA?"׽RA=Y"@Rؿy+w=qٓHd`?8~?/81P (( ?)"@ I٘i)I9}@YgG JJ>JJJF&Khx> YXeT~?y6PARؿ;F777<9):BE[[J(@[GU~?[?[[[[BZYY i*k) PA<Fb77z>9)FE@9)?B[[^C@[nU~?[M[[[[BZYY i) ,;Ii@r4=  TU)) TUYe@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040559.723165 s, next control iter: 1743040560.103175 s, wait time: 0.380010 s^T~?)G rAdjusting time to match Gazebo time: 1743040560.123165 s.=K~,v ,AAG:u@A-u@ALFV~? A)GAM &"AAɔhNA"AZAbAjArAzAAA.4! A|>z)sA|@AÂ;A=A͔пA >¿AGA3{*A9?2A">ֽ:A=BA9?JA">ֽRA=٘i)I9|@YG JC=JJJJF&K YB[T~?ySPPA?F)7ŧ7B9(B)DBE[[ZЕ@[U~?[S[[[[BZYY i) ;j;Iiԍ@J5= -P))-PU@yTkҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040560.143165 s, next control iter: 1743040560.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040560.543165 s.IK~," ,AJ"J*J2J:J:4?BJ:4?nJ<5vJA= ףpu@Aǘcu@ATAV~? AOA{ &"AAԌhNA"AZAbAjArAzAAAi(K AMoQ.sA8{@AQe<Al=AοA&A A*A9?2A ֽ:A=BA9?JA ֽRA=٘i)I9{@YXG JJJJJF&K YWT~?yYOA@Fb77C9)HB[[\@[U~?[Z[[[[BZYY i) f;Iiߎ@G6= EL))EL~@yk֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040560.563165 s, next control iter: 1743040560.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14059, header.stamp.nsec: 00 temperature: 13.567708* salinity: 33.375011, density: 1025.000000* values[0]: 0.580454F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040560.963165 s.zK~,= ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066761< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743040560.963288F (some fields omitted in printout)Affffu@AZu@A YfWT~?yaGOAP˿BF777E9)MB[[ȿ[U~?[qa[[[[BZYY i) De;Ii@ 7= H))HHy תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040560.983165 s, next control iter: 1743040561.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040561.383165 s.K~,#X ,AJ"J*J2J:JBJnJvJA(u@AIu@A8V~? A_A)E &"AADhNA"AZAbAjArAzAAA||c AϩX 8sAz@Ax<AR=AȿA@^A``>Aó*A!9?2Aֽ:Ay =BA!9?JAֽRAy =٘i)I9z@YG JJJJJF&K YVT~?yjNACFŧ7b7oG9)QB[[Edƿ[AU~?[8h[[[[BZYY i) <);IiS@u7= C))CC5תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040561.403165 s, next control iter: 1743040561.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14060", header.stamp.nsec: 0"0 temperature: 13.568027"* salinity: 33.374989", density: 1025.000000"* values[0]: 0.579771"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040561.803165 s.{AK~,gs ,AAv@Axρv@A5V~? A gA &"AAyhNA"AZAbAjArAzAAA dh AA)j A.:AsAŝy@A.NAv=Al^ÿAZA\As@*AN9?2A9׽:A"=BAN9?JA9׽RA"=٘i)I9y@YG JC=JJJJF&K YUT~?yF| NAFF777K9)[B[[[U~?[u[[[[BZYY i) wD:Ii@"8= :))::ӪYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743040562.243165 s, next control iter: 1743040562.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040562.643165 s.{)K~,* ,AA ףp}v@Afdpv@AW0V~? AwAo&"AAphNA"AZAbAjArAzAAAa] An`5FsAy@A}~A=ATAuAgA񪨼*A9?2A6׽:A?=BA9?JA6׽RA?=٘i)I9y@YG JJJJJF&K YjUT~?yMAGFŧ7b7L9)_B[[Ͽ[HU~?[u|[[[[BZYY i) ؐ,Iic@|:= k6))k6k6TѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040562.663165 s, next control iter: 1743040563.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14061, header.stamp.nsec: 00 temperature: 13.568338* salinity: 33.375000, density: 1025.000000* values[0]: 0.579043F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040563.063165 s.0K~,V ,AJ"J*J2J:JBJnJvJA3333v@A5C(v@A.V~? A+AS&"AAmhNA"AZAbAjArAzAAA3&NAOjKsA_x@Ag*A@=AD.A`'A{pAξ*A9?2Aֽ:Al=BA9?JAֽRAl=Yz@BGy>=x*ٓH{?`?@?@*?`xòS@?)z@ I٘i)I9x@Y?G JJJJJF&K=x> YWT~?yڍ=MAGHF77{7N9)dB[[[U~?[1[[[[BZYY i) WIiZ@ := {+2)){+2{+2ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040563.083165 s, next control iter: 1743040563.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040563.483165 s.v_7K~, ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066761< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743040563.483288F (some fields omitted in printout)A\v@A@xv@AA-V~? A<A4&"AA`khNA"AZAbAjArAzAAA^u1A(*PsAw@A09AP=A۬A`AvApM*A9?2Aۓֽ:ALj=BA9?JAۓֽRALj=٘i)I9w@YG JRJJJJF&K Y*ZT~?yLAJFeP9)iBE[[k['U~?[뉩[[[[BZYY i) 9Ii@=:= -))--Q̪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040563.503165 s, next control iter: 1743040563.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14062, header.stamp.nsec: 00 temperature: 13.568597* salinity: 33.374989, density: 1025.000000* values[0]: 0.578369F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040563.903165 s.=K~, ,AJ"J*J2J:JBJnJvJAQw@Ax}w@A,V~? APAA&"AAihNA"AZAbAjArAzAAAz{ ?DA2m(UsAcw@A/<A!=A9*A A(zA4*A^9?2ALֽ:Aa=BA^9?JALֽRAa=٘i)I9cw@YG JǪJJJJF&K Y\T~?yetLAKF/R9)mB[[:[U~?[[[[[BZYY i) @IiՑ@S:= ke)))ke)ke)WɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040563.923165 s, next control iter: 1743040564.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040564.323165 s.uDK~,! ,AAGzTw@ARrGw@AC,V~? AdA&"AAihNA"AZAbAjArAzAAA&eIA@sZsAv@Anj~<AJ=AA`w= ;));;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040565.603165 s, next control iter: 1743040565.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14064, header.stamp.nsec: 00 temperature: 13.569141* salinity: 33.375000, density: 1025.000000* values[0]: 0.577073F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040566.003165 s.y `K~,P4 ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075575< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743040566.003297F (some fields omitted in printout)AR+x@Azx@A0V~? AA&"AAmhNA"AZAbAjArAzAAAp h A,'nsAt@AˁxA=A櫿Ak?AgAƌ*AV9?2AL׽:A<BAV9?JAL׽RA<٘i)I9t@YG JJJJJF&K YlhT~?yB˩{JARF7777%[9,B)B[[U[pU~?[[[[[BZYY i) \>Ii:@J@= ))GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040566.023165 s, next control iter: 1743040566.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040566.423165 s.J "J *J 2J :J ?BJ ?nJ 5vJ ufK~, ,AA{Gax@AF};Tx@A3V~? AA&"AA!qhNA"AZAbAjArAzAAAoդ AyssAwWt@A(1`A=A~OA @?A[A{0*A+9?2A5$׽:A<BA+9?JA5$׽RA<٘i)I9Wt@YG JJJJJF&K YjT~?yԩJASF77\9-B)BE[[-[U~?[,[[[[BZYY i) N Ii@B= K))KKYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040566.463165 s, next control iter: 1743040566.823182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14065", header.stamp.nsec: 0"0 temperature: 13.569355"* salinity: 33.374985", density: 1025.000000"* values[0]: 0.576499"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040566.843165 s.lK~, ,AAp= x@Apux@A6V~? AǪAH&"AA,uhNA"AZAbAjArAzAAA;J.] AN wsAs@AۣA1T=AǦAK?A MA:1*A 9?2Afֽ:A<BA 9?JAfֽRA<ȕI٘i)I9s@YpG JnJJJJF&K Y-mT~?yܩIATF)7ŧ7^9)B[[O[U~?[[[[[BZYY i) zIi@@)D=  ))  yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040566.863165 s, next control iter: 1743040567.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040567.263165 s.tK~, ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075575< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743040567.263288F (some fields omitted in printout)J"J*J2J:JBJnJvJAx@A^ax@A}9V~? AϪA)&"AAzhNA"AZAbAjArAzAAA6q{ Ar<|sAms@A;A휉=AFA1?A2=A*A9?2Apֽ:A=BA9?JApֽRA=Y@8y9=;ٓH ?`ѯ?V?BE$?70 y?Y?)@ I٘i)I9ms@Y(G JnjJpJJJF&K9> Y1uT~?y@UIA8VF77`9.B)BE[[{ݧ[AU~?[ũ[[[[BZYY i) )Iiژ@/C= ))pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040567.283165 s, next control iter: 1743040567.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 140662, header.stamp.nsec: 020 temperature: 13.5695552* salinity: 33.3750082, density: 1025.0000002* values[0]: 0.5759622F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040567.683165 s.lzK~,Z ,AA(\y@Aùx@Az=V~? AתA&"AAhNA"AZAbAjArAzAAA+ A۸sAr@Aj<AD=AA@)ľ?AS*Ä́*A9?2AXBֽ:A y=BA9?JAXBֽRA y=٘i)I9r@YG J8JJJJF&K Y7}T~?yHAWF7Pb9)B[[ﱥ[U~?[˩[[[[BZYY i) 9Ii@`C= T))TT{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040567.683165 s, next control iter: 1743040568.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743040568.103165 s.K~,,AJ"J*J2J:JBJnJvJAQ8y@A#G+y@AAV~? AߪA[t%"AAhNA"AZAbAjArAzAAA9خ: AܣsA.wr@Aڟr<AZ=A""A%"AA4hNA"AZAbAjArAzAAAݳ : AA^|W,AAy@AMy@ARV~? A]A%"AAhNA"AZAbAjArAzAAA AKp`sArq@A TA8=AuA?A@ A*A9?2AN׽:A=BA9?JAN׽RA=YWA@-y{5=mTٓH@@?@ YT~?y.GA-]F7{i9)B[[[V~?[[[[[BZYY i) qYwIi@k5C= ))ᾩ)ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040569.383165 s, next control iter: 1743040569.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14068&, header.stamp.nsec: 0&0 temperature: 13.569984&* salinity: 33.374985&, density: 1025.000000&* values[0]: 0.574826&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040569.783165 s.]K~,r,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084632< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743040569.783316F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\z@A1"Qz@A=YV~? A-A %"AAhNA"AZAbAjArAzAAAY AK͙sA_p@A{A=AnA@?A(AI*A[9?2A/A׽:AQ=BA[9?JA/A׽RAQ=٘i)I9p@YfG JYJJJJF&K YT~?ySGA^Fj7j7Ek90B)BE[[ٚ[w!V~?[5[[[[BZYY i)  QIi@B= Fپ))FپFپ̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040569.803165 s, next control iter: 1743040570.183182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040570.203165 s.K~,,AAQEz@AZGU8z@AY`V~? AAs%"AAhNA"AZAbAjArAzAAAGZ AtsA p@AqAq=A#⑿Aౚ?A&AҘ*A9?2AMֽ:A =BA9?JAMֽRA =٘i)I9 p@YG JJJJJF&K YvT~?yxFA_F777m91B)B!E[[[6)V~?[q[[[[BZYY i) xIi@kB= >о))>о>оyAѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040570.223165 s, next control iter: 1743040570.603174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743040570.623165 s.WK~,],AJ"J*J2J:J?BJ?nJ&5vJAGzz@A"0mz@AgV~? AA%"AAhNA"AZAbAjArAzAAA.AUAsAo@A[l:A)=AbAKg?A_A c*A 9?2A~ֽ:A =BA 9?JA~ֽRA =٘i)I9o@YG JJJJJF&K Y0T~?y'[FAaF{7Z7n9)B[[[L1V~?[[[[[BZYY i) ޙIiۗ@`B= Ǿ))ǾǾ֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040570.643165 s, next control iter: 1743040571.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14069 , header.stamp.nsec: 0 0 temperature: 13.570208 * salinity: 33.375015 , density: 1025.000000 * values[0]: 0.574261 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040571.043165 s.K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084632< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743040571.043290F (some fields omitted in printout)A= ףz@Az@ApV~? AWA,F%"AAhNA"AZAbAjArAzAAA7!A?덬sAn@AZF:<A2=A⌿A)0?A8A#*Az9?2A(ֽ:A=BAz9?JA(ֽRA=٘i)I9n@YtG JJJJJF&K YT~?y/EAbF)7)7p9)B[[U[9V~?[[[[[BZYY i) }>Ii@ՐB= ~6))~6~6۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040571.063165 s, next control iter: 1743040571.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040571.463165 s.ZK~,,AJ"J*J2J:JBJnJvJAffffz@A\z@AxV~? AAѰ%"AAhNA"AZAbAjArAzAAAo* A JNsAUjn@AJ<A=A+RA?A*Ak*An9?2Aֽ:AB=BAn9?JAֽRAB=Yz@A)y=)<ٓH@?:? g5?`@( ?ԳW3 ?`?)z@ I٘i)I9jn@YG JJ<JJJF&Kw> Y=T~?y7EA)cFZ7Z7pr92B)B%E[[*[tBV~?[[[[[BZYY i) ۩Ii>@A= ~))~~ߪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743040571.483165 s, next control iter: 1743040571.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14070, header.stamp.nsec: 00 temperature: 13.570417* salinity: 33.375004, density: 1025.000000* values[0]: 0.573668F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040571.883165 s.yK~,4,AA({@A{@AV~? A%A%"AAhNA"AZAbAjArAzAAA5L4/AX]"5sAm@AY@<A=A`A?AA ,*Aܡ9?2A^ֽ:A]=BAܡ9?JA^ֽRA]=٘i)I9m@YG J{JJJJF&K YT~?yF?EAeF7{7;t9)įB[[[KV~?[ [[[[BZYY i) Ii@@= ܭ))ܭܭYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040571.903165 s, next control iter: 1743040572.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040572.303165 s.ZK~,g,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084632< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743040572.303269F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ{@A.D{@AWV~? A-Aa%"AAhNA"AZAbAjArAzAAAcw`GA(ɵsAd7m@A:AS=AA,?AAW*A9?2Aֽ:A=BA9?JAֽRA=٘i)I97m@Y`G JJJJJF&K YT~?yGDAfFZ7Z7v93B)ɯB(E[[[ҍ[TV~?[[[[[BZYY i) IiD@W@= )))))\YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040572.323165 s, next control iter: 1743040572.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14071*, header.stamp.nsec: 0*0 temperature: 13.570663** salinity: 33.374996*, density: 1025.000000** values[0]: 0.572968*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040572.723165 s.K~,H.,AAz{@A*z{@AmV~? Aw4Ap%"AAhNA"AZAbAjArAzAAAɗRA TsA$l@AA3ܪ=A<Aଫ?AA8>*A̙9?2A)׽:Ae=BA̙9?JA)׽RAe=٘i)I9l@YG JɸJJJJF&K Y2U~?yNCDAgF7ŧ7w9)ίB[[[^V~?[[[[[BZYY i) 뷼Ii @@= Vt))VtVtYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040572.743165 s, next control iter: 1743040573.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040573.143165 s.`/K~,0*I,AJ"J*J2J:J?BJ?nJ5vJA ףp{@AQd{@AV~? A;Af%"AAiNA"AZAbAjArAzAAAo@$RA^,ԾsAk@AyAb=A""A ?ADSA=*A89?2A}A׽:A=BA89?JA}A׽RA=٘i)I9k@YG JJJJJF&K Y U~?yVCAiF777y94B)ԯB)E[[w[hV~?[[[[[BZYY i) VIi@@= F))FF>YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743040573.163165 s, next control iter: 1743040573.543188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743040573.563165 s.K~, d,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084632< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743040573.563289F (some fields omitted in printout)A3333{@A}\*{@AV~? A$CAm%"AAiNA"AZAbAjArAzAAAA}&vEAaIsA>_k@A5YA:ɯ=AwyA i?A`Ah¼*A9?2A׽:A/=BA9?JA׽RA/=YbĢ@8CzyCů=ZٓH??l.?`ho?J@ n&?)bĢ@ I٘i)I9_k@Y@G JB=Jt<JJJF&Kx> YIU~?y]`CACzjF77e{95B)گB,E[[+L[-sV~?[![[[[BZYY i) ƼIi@>= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040573.583165 s, next control iter: 1743040573.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14072, header.stamp.nsec: 00 temperature: 13.570901* salinity: 33.375015, density: 1025.000000* values[0]: 0.572277F (some fields omitted in printout)2IU~?)2] rAdjusting time to match Gazebo time: 1743040573.983165 s.K~,~,AJ"J*J2J:J?BJ?nJ5vJA\(|@AO!W|@AV~? A_JAsI%"AA0iNA"AZAbAjArAzAAAM.Af]sAӸj@A2Aޱ=AtAA?A`aAʼ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9j@YG J%ƼC=JJJJF&K Y -U~?y#eBAkF0}9)߯B[[O[}V~?[~'[[[[BZYY i) LͼIiQ@!== ]))]]oYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040574.003165 s, next control iter: 1743040574.383176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040574.403165 s.&K~,͙,AAQ^|@APT6Q|@AV~? AQA%"AABiNA"AZAbAjArAzAAA A_v{sA j@A;Av=ApA ?ASAӼ*A9?2AZ%ֽ:A=BA9?JAZ%ֽRA=٘i)I9 j@YqG JμJJJJF&K Y YmnU~?yŁAA6`qF77[9)B[[x[V~?[.>[[[[ZZ¸BZYY i¸=) ׼Ii@:= >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040575.683165 s, next control iter: 1743040576.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040576.083165 s.DK~,S,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083366< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743040576.083296F (some fields omitted in printout)A)\5}@AM(}@A)V~? A\mA%"AAiNA"AZAbAjArAzAAAeo AUusAI0g@A:A=A1ZA`?AiA0ռ*Aс9?2ARֽ:A=BAс9?JARֽRA=٘i)I90g@Y G JؼC=JJJJF&K Y|U~?y@ArF{7{7%9)B6E[[_mt[PV~?[C[[[[ZZBZYY i) {˼Ii@&9= v-))v-v-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040576.103165 s, next control iter: 1743040576.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040576.503165 s.K~,H4 ,AJ"J*J2J:JBJnJvJARk}@Ay^}@AnW~? AtAn%"AA/iNA"AZAbAjArAzAAA_kAWm+sAkf@AaZAW=A5}UA*?A1qATL*AL9?2Ao!׽:Aڧ<BAL9?JAo!׽RAڧ<٘i)I9kf@Y< G J6JJJJF&K YU~?yF@AsFb7799B)B9E[[ p[V~?[*I[[[[ZZBZYY i) qIiS@D8= ))y=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040576.523165 s, next control iter: 1743040576.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14075, header.stamp.nsec: 00 temperature: 13.571733* salinity: 33.375042, density: 1025.000000* values[0]: 0.569931F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040576.923165 s.?K~,;,AA{G}@ARy;}@A#W~? AzA%"AAiNA"AZAbAjArAzAAAe`A&9sAe@A|A=A4?PA?A"+AM*Aԙ9?2Ac׽:AG5<BAԙ9?JAc׽RAG5<٘i)I9e@Y G JXJJJJF&K YU~?y?AuFj7Z79:B)B:E[[k[V~?[N[[[[ZZBZYY i) gIi@T8= `g ))`g `g y= ԪYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743040576.943165 s, next control iter: 1743040577.323181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040577.343165 s.<K~,U,AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083366< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743040577.343330F (some fields omitted in printout)Ap= }@A5}@AF#W~? AKA%"AAiNA"AZAbAjArAzAAAu{A YU~?y>AFwF{7{7P9)B[[sb[V~?[0Y[[[[ZZBZYY i4=) Ii@P5= ν))ννu|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040577.783165 s, next control iter: 1743040578.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040578.183165 s."K~,Z,AJ"J*J2J:JBJnJvJA(\B~@Aa65~@ABW~? AA%"AAjNA"AZAbAjArAzAAAK)u$߿Am* sA_[c@A.<A<A@A@@?APA *A9?2A]ֽ:A:PBA9?JA]ֽRA:P٘i)I9[c@Y_ G JRƼJJJJF&K Y"U~?y>AyF779 elevatorAngleAction: 0.073831< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743040578.603273F (some fields omitted in printout)AQx~@AsEk~@A=SW~? AZAq%"AAZjNA"AZAbAjArAzAAA&IҿAAGsBsAb@Al<AM#<A;A-?A`AU0*AW9?2Aֽ:ASBAW9?JAֽRAS٘i)I9b@Y G J5JJJJF&K Y]U~?yEs>AzF779)&BCE[[Z[W~?[c[[[[ZZBZYY i) 膼Ii@<3= ))xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040578.623165 s, next control iter: 1743040579.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14077 , header.stamp.nsec: 0 0 temperature: 13.572330 * salinity: 33.375053 , density: 1025.000000 * values[0]: 0.568187 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040579.023165 s.Z0K~, |,AJ"J*J2J:JBJnJvJAHz~@A#=~@AdW~? AA;!%"AA3jNA"AZAbAjArAzAAAS~׷A[A{Fb779>B)*BDE[[SU[aW~?[h[[[[ZZBZYY i{,=) 0/xIiH@G2= GI))GIGIy+=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040579.043165 s, next control iter: 1743040579.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040579.443165 s.96K~,F],AAq= ~@A+4~@AFuW~? AA%"AAEMjNA"AZAbAjArAzAAAD ]?A̩LsA5b@AW9A_Ak`1A 3r?AgA*AU9?2ASֽ:AQBAU9?JASֽRAQ٘i)I95b@Y G JJJJJF&K YV~?y=A}F{9)-BGE[[4Q[:&W~?[m[[[[ZZBZYY i) bIi@.1= L))LLy=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040579.483165 s, next control iter: 1743040579.843179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14078, header.stamp.nsec: 00 temperature: 13.572475* salinity: 33.375046, density: 1025.000000* values[0]: 0.567718F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040579.863165 s.+=K~,>,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083093< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743040579.863315F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AA*Ŏ @AW~? A|A4%"AAgjNA"AZAbAjArAzAAAPe<p?AEKsAb@AR"AplArD,A?AAi{m*AQ9?2AYֽ:AмBAQ9?JAYֽRAмYۆ@r/,yjh"ٓHy?@? ?@I??DJ@Q?)ۆ@ I٘i)I9b@Y G JnJ9JJJF&K{v> Y1V~?y'>A/,~F77F9?B).BJE[[OL[D5W~?[r[[[[BZYY iJj=) QIiC@/= n))nny^B=00*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040579.903165 s, next control iter: 1743040580.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040580.283165 s.5RDK~,,AA(\O@ASςPB@AߘW~? AOA%"AAjNA"AZAbAjArAzAAAWw ?A6xztA#b@AzA 2A$'Ari?A`(AKg;*A”9?2Aս:A.)BA”9?JAսRA.)󼙘٘i)I9#b@Y G J:JJJJF&K YHV~?yƪT>AF7{79)[[G]H[DW~?[mw[[[[BZYY i5=) ?Ii@.= 2;))2;2;y=o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040580.303165 s, next control iter: 1743040580.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14079., header.stamp.nsec: 0.0 temperature: 13.572444.* salinity: 33.375053., density: 1025.000000.* values[0]: 0.567668.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040580.703165 s.ߺJK~,6-,AJ"J*J2J:JBJnJvJAQ@A/x@A=W~? AAHQ%"AAjNA"AZAbAjArAzAAA@h%k?AitAJb@AdQA:XA!A?AkA2<*A9?2Aֽ:AD`BA9?JAֽRAD`٘i)I9Jb@Y G J޸;B=JJJJF&K Y?^V~?y̪>AFŧ7b7ۙ9@B)-BME[[C[YTW~?[6|[[[[BZYY i) <.Ii@,= <))<<yc=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040580.723165 s, next control iter: 1743040581.103188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743040581.123165 s.BQK~,G,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067485< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743040581.123308F (some fields omitted in printout)AG@ASAEխ@AW~? AA%"AA3jNA"AZAbAjArAzAAAѐA?AG` tAb@AuA1uA2Ay?AAQ2<*A9?2A}uֽ:ABA9?JA}uֽRA٘i)I9b@Y G J<C=JJJJF&K Y`tV~?yѪ>AF{7{79BB)RE[[t?[\dW~?[퀪[[[[BZYY i) Ii@+= =))==y崋=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040581.143165 s, next control iter: 1743040581.523182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040581.543165 s.IXK~,b,AJ"J*J2J:JBJnJvJA= ף@Ahs@AW~? AAv%"AAjNA"AZAbAjArAzAAAVlF+?A| tAb@A;AVAB3Ayi?A`5p߿AhoZ<*A9?2Aֽ:A< BA9?JAֽRA< ٘i)I9b@Y G JE<B=JJJJF&K YV~?yת>AF777p9)+B[[;:[tW~?[[[[[BZYY i) c] IiI@*= Ja=))Ja=Ja=#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040581.563165 s, next control iter: 1743040581.943181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14080, header.stamp.nsec: 00 temperature: 13.572255* salinity: 33.375076, density: 1025.000000* values[0]: 0.567961F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040581.963165 s.x^K~,},AAffff&@A[[@AW~? Ao«A %"AAjNA"AZAbAjArAzAAA?A'tAuAc@AWg<AAA@8?Aj޿A}}<*A9?2Aֽ:A BA9?JAֽRA Yȯ@yKh<ٓH@u?B?@ )?? X?Z?? ?)ȯ@ I٘i)I9Ac@YO G Jk<C=JaJJJF&KNx> YGV~?y۪9?AF77;9)(BUE[[6[W~?[[[[[BZYY i0l=) Ii@(= =))==*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040581.983165 s, next control iter: 1743040582.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040582.383165 s.eK~,/,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057663< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743040582.383302F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A N} O@A\W~? AǫA%"AAkNA"AZAbAjArAzAAA~2+?Ah,tAc@Aw_<AǖAT AN ?A ݿALۏ<*AR9?2Aֽ:A BAR9?JAֽRA ٘i)I9c@Y G J<JJJJF&K Y V~?y?AFb779CB)%BXE[[_2[W~?[[[[[BZYY i) NٻIi>@Ŷ&= ໷=))໷=໷=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040582.403165 s, next control iter: 1743040582.783176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14081*, header.stamp.nsec: 0*0 temperature: 13.571981** salinity: 33.375080*, density: 1025.000000** values[0]: 0.568464*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040582.803165 s.yAlK~,g,AA둀@A%㄀@A X~? A̫A@%"AA0kNA"AZAbAjArAzAAA$2n?AHtA3d@A;AQcAAW?A`jAݿA<*A֚9?2Aԉֽ:A BA֚9?JAԉֽRA ٘i)I93d@Y G Jޘ<JJJJF&K YV~?y[?AF77Ѣ9)"B[E[['-[W~?[⒪[[[[BZYY i) ?Ii@f%= =))==a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040582.843165 s, next control iter: 1743040583.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040583.223165 s.gsK~,H,AJ"J*J2J:JBJnJvJAzǀ@A~@A X~? AѫA7%"AANkNA"AZAbAjArAzAAA8m(@A*QtAd@AREAx,AA`?AܿAޯ<*A9?2AK,ֽ:Aa BA9?JAK,ֽRAa ǕI٘i)I9d@Y9 G J̩<JJJJF&K YV~?y[@AFj7Z79)B[[!)[VW~?[+[[[[BZYY i) 曻Ii@N#= `o=))`o=`o=y~l=*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743040583.243165 s, next control iter: 1743040583.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040583.643165 s.xyK~,*,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057663< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040583.643281F (some fields omitted in printout)A ףp@Ae@A5X~? A֫A=~%"AAnkNA"AZAbAjArAzAAAIXL @A FtAYe@A|XAbA"A`?A@ZۿAӸ<*A˪9?2Aս:Aԛ BA˪9?JAսRAԛ ٘i)I9Ye@Y G J:<JJJJF&K YYW~?y@AF77{7f9DB)B^E[[{$[W~?[a[[[[BZYY i)  _zIi'~@"= >))>>g*YFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14082]:, header.stamp.nsec: 00 temperature: 13.571662* salinity: 33.375099, density: 1025.000000* values[0]: 0.569140F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743040583.663165 s, next control iter: 1743040584.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040584.063165 s.K~,[ ,AJ"J*J2J:JBJnJvJA33333@A!*&@AJX~? AI۫A %"AAԍkNA"AZAbAjArAzAAA @A' tAQe@A:mAm.AA1?AڿA޹<*A 9?2Aֽ:Az! BA 9?JAֽRAz! Y @2yC*!{nٓH YW~?y#AA2F7719FB)BbE[[( [W~?[t[[[[BZYY i) >Iiz@f = #>))#>#>/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040584.083165 s, next control iter: 1743040584.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040584.483165 s.w_K~,,AA\h@Aq[@AQ`X~? A߫A%"AA kNA"AZAbAjArAzAAAH@(@A"tA$f@AAsAcA`Dx?A 35ڿA*<*A9?2Aqֽ:ABA9?JAqֽRA٘i)I9f@YS G J_<JJJJF&K Y3W~?yAAF77{79)BeE[[[W~?[s[[[[BZYY i=) Iixw@a= 5>))5>5>.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040584.503165 s, next control iter: 1743040584.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14083, header.stamp.nsec: 00 temperature: 13.571269* salinity: 33.375099, density: 1025.000000* values[0]: 0.569925F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040584.903165 s.ȍK~,9,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066467< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743040584.903291F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A<_@A vX~? AOAm%"AAkNA"AZAbAjArAzAAA:#6 @Ay *%tA%g@A=n%;AAB۾A`?A gٿAa<*As9?2A:ֽ:AkBAs9?JA:ֽRAk٘i)I9%g@Y G J<JJJJF&K YLW~?yAAFS7S7ƫ9) B[[([EX~?[_[[[[BZYY i) >Iit@= PG>))PG>PG>=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040584.923165 s, next control iter: 1743040585.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040585.323165 s.xK~,-T,AAGzԁ@Aoǁ@A X~? AA7%"AAkNA"AZAbAjArAzAAA QL @AvhI(tAEg@A4C<AA8оAR?AؿA<*A9?2AH׽:A6BA9?JAH׽RA6򼙘٘i)I9g@Y G J <JJJJF&K YfW~?yYBAF{7j79GB) BhE[[[X~?[4[[[[BZYY i) DIiHr@^= пY>))пY>пY>*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743040585.343165 s, next control iter: 1743040585.723177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14084&, header.stamp.nsec: 0&0 temperature: 13.570888&* salinity: 33.375145&, density: 1025.000000&* values[0]: 0.570694&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040585.743165 s.WK~,o,AJ"J*J2J:J?BJ?nJ15vJAףp= @AO;5@AXX~? AAr%"AAelNA"AZAbAjArAzAAA9}i @AkƩ*tA4h@Axv<AAqžA ??A׿Aٗ<*AL9?2Al׽:AHBAL9?JAl׽RAH٘i)I94h@YR G J<B=JJJJF&K YEW~?yBAFb77[9)BkE[[[%X~?[[[[[BZYY i) RL:Ii@p@= k>))k>k>yS=M*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040585.763165 s, next control iter: 1743040586.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040586.163165 s.{}K~,q,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066467< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743040586.163296F (some fields omitted in printout)A@@A2@AX~? AAmu%"AA_3lNA"AZAbAjArAzAAA #NȌ@AH-tAh@A0)<AtAA`{?AvֿA9K<*AR9?2Axֽ:A/BAR9?JAxֽRA/YbK@iyrA)<ٓH@v?`|?b۰ Hֿ ?`t/? ?&?c?)bK@ I٘i)I9h@Y G JЕ<C=J<JJJF&K(x> YW~?yCAF77{7&9HB)BnE[[G [8X~?[[[[[BZYY i) T:Iiol@Q= P}>))P}>P}>*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040586.183165 s, next control iter: 1743040586.563181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040586.583165 s.K~,R,AJ"J*J2J:JBJnJvJA)\u@A+lh@AX~? AA+(%"AAUlNA"AZAbAjArAzAAAr=E+@Ah /tA-i@AD59AAA7?AֿAW<*A9?2Aֽ:A4BA9?JAֽRA4򼙘٘i)I9-i@Y G J<JJJJF&K YW~?y xCAF779)BqE[[[VLX~?[[[[[BZYY i) vv/;Iih@= H>))H>H>L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040586.603165 s, next control iter: 1743040586.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14085, header.stamp.nsec: 00 temperature: 13.570552* salinity: 33.375153, density: 1025.000000* values[0]: 0.571391F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040587.003165 s.z K~,U4,AAR@A?n|@AX~? AiA%"AAxlNA"AZAbAjArAzAAAs@A y1tAΩi@A=$ACބAoA@))2>2>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040587.023165 s, next control iter: 1743040587.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040587.423165 s.uK~,,AJ"J*J2J:J[?BJ[?nJw5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066467< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743040587.423285F (some fields omitted in printout)A{G@A~:Ԃ@AX~? AA%"AAlNA"AZAbAjArAzAAA.[ @A=]4tA%j@AGuA+^APA]$?A`lԿA:y<*A9?2A@ֽ:ABA9?JA@ֽRA٘i)I9%j@YG J<JJJJF&K YW~?ym/DAF779)BtE[[[sX~?[ټ[[[[BZYY i) N;Ii>c@yo= ]>))]>]>*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743040587.443165 s, next control iter: 1743040587.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14086, header.stamp.nsec: 00 temperature: 13.570175* salinity: 33.375141, density: 1025.000000* values[0]: 0.572043F (some fields omitted in printout)>W~?)>m rAdjusting time to match Gazebo time: 1743040587.843165 s.ݼK~,,AAp= @A @AY~? AqA7Q%"AAlNA"AZAbAjArAzAAA/B+@A^86tAj@ADA AȒAX?AuӿA9<*A9?2Avֽ:ArBA9?JAvֽRAr٘i)I9j@YG Jv<JJJJF&K YX~?yDAFS7S7Q9JB)BxE[[-['X~?[[[[[BZYY in=) ;Ii`@ = >))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040587.863165 s, next control iter: 1743040588.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040588.263165 s.K~,,AJ"J*J2J:JBJnJvJAL@A?@Ah-Y~? AAR%"AAlNA"AZAbAjArAzAAAz?K@Av7;8tA?k@A1A{A A@?A WҿA1<*A9?2ANֽ:AmXBA9?JANֽRAmXY^@y\u2ٓH '?`?@Uпs?@y??@5f?)^@ I٘i)I9k@YG Jĉ<JJ <JJJF&K9x> Y]X~?yDAF779KB)B{E[[m[[X~?[0ê[[[[BZYY i) ^;Ii\@X = >))>>ȯ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040588.303165 s, next control iter: 1743040588.663178 s, wait time: 0.360013 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 140872, header.stamp.nsec: 020 temperature: 13.5698582* salinity: 33.3751642, density: 1025.0000002* values[0]: 0.5726832F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040588.683165 s.lK~,k+,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.252064> elevatorAngleAction: 0.076135< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743040588.683273F (some fields omitted in printout)A(\@Au׃u@AbEY~? AAb%"AAmNA"AZAbAjArAzAAA5n@A z%:tAI~k@A&<A2A_zA;?A ѿAz<*A99?2Ao׽:A"BA99?JAo׽RA"򼙘٘i)I9~k@YSG Jс<JJJJF&K Y9X~?y68EAFSI7SI79)B~E[[?ܾ[ݰX~?[1ƪ[[[[BZYY i) ;Ii&Y@ = ߵ>)) ߵ>ߵ>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040588.683165 s, next control iter: 1743040589.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743040589.103165 s.K~,ȚF,AJ"J*J2J:JBJnJvJAQ@ASF@A]Y~? AAx%"AA+mNA"AZAbAjArAzAAAG@A}@1q;tAk@A׺m<AAzeA|?A пAst<*A9?2A[ֽ:ASBA9?JA[ֽRAS٘i)I9k@YG Jv<JJJJF&K YTX~?yEAF7779)BE[[Ӿ[X~?[ɪ[[[[BZYY i)  ))5>5>y{֛=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040589.123165 s, next control iter: 1743040589.503182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040589.523165 s.K~,{a,AAHz@A^K@AuY~? A A[%"AA`PmNA"AZAbAjArAzAAA!B@A=>=tALl@A( [<AAQAd?AϿAEx<*A9?2A)Fֽ:A"BA9?JA)FֽRA"٘i)I9Ll@YG Jt<JJJJF&K Y)pX~?yEAF{7{9)BE[[ɾ[X~?[˪[[[[BZYY i) }))d>d>ߴ*YYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743040589.543165 s, next control iter: 1743040589.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14088, header.stamp.nsec: 00 temperature: 13.569542* salinity: 33.375172, density: 1025.000000* values[0]: 0.573256F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040589.943165 s.\dK~,S]|,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076135< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743040589.943310F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #@At@A}Y~? A`A%%"AApumNA"AZAbAjArAzAAA@ALU?tAl@A;A臽A=A;?A9οA*<*AL9?2A ֽ:ATBAL9?JA ֽRAT٘i)I9l@YG J|<JJJJF&K YoX~?y&)))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040589.983165 s, next control iter: 1743040590.343181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743040590.363165 s.K~,>,AAY@AF{L@A5Y~? AA%"AAmNA"AZAbAjArAzAAAde@A=o@tAz'm@A<˽AA) )A `?Ar̿AɊ<*A9?2Awս:ABA9?JAwսRAYǼ@(yaO;ٓH~??᰿Ŀ`~?>??[?^w`?)Ǽ@ I٘i)I9'm@YVG J<B=JE<JJJF&Ku> YNX~?yFA(F9)BE[[+[_Y~?[%Ѫ[[[[BZYY i) 8))(}>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040590.383165 s, next control iter: 1743040590.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14089&, header.stamp.nsec: 0&0 temperature: 13.569222&* salinity: 33.375195&, density: 1025.000000&* values[0]: 0.573815&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040590.783165 s.YK~,,AJ"J*J2J:JBJnJvJA(\@A"mO@AY~? AFA%"AARmNA"AZAbAjArAzAAACȊ >@ASKSBtAҞm@A`A֍AA?A`zʿA<*Ai9?2Aս:AD BAi9?JAսRAD ٘i)I9m@YG J<C=JJJJF&K Y*X~?y !FAFS779LB)߯BE[[U᭾[Y~?[Ӫ[[[[BZYY i) 3H>)) a>>a>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040590.803165 s, next control iter: 1743040591.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040591.203165 s.K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076135< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743040591.203274F (some fields omitted in printout)AQń@AڒU@AY~? A~A%"AA mNA"AZAbAjArAzAAA9m@AiAzCtAcn@AlAaA,ZA[?A`ȿA<*A9?2AȹԽ:AM BA9?JAȹԽRAM ٘i)I9n@YG JP<JJJJF&K YX~?y{"TGAFj7j79)ۯBE[[U[0Y~?[ժ[[[[BZYY i) kW))a>a>P*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040591.223165 s, next control iter: 1743040591.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040591.623165 s.WK~,],AJ"J*J2J:J?BJ?nJ65vJAG@A,@AGY~? AAk%"AA( nNA"AZAbAjArAzAAAA ˞@A'DtA~n@AAAֽA`?A ƿA<*A9?2At?ս:A BA9?JAt?սRA ٘i)I9n@Y8G JK<JJJJF&K YX~?y#GAF777q9)ׯBE[[[FY~?[&ت[[[[BZYY i) *g))->->*Y#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040591.663165 s, next control iter: 1743040592.023178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14090, header.stamp.nsec: 00 temperature: 13.568876* salinity: 33.375198, density: 1025.000000* values[0]: 0.574493F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040592.043165 s.ǨK~,,AA= ף0@A#@A Z~? AsAD%"AAc2nNA"AZAbAjArAzAAAf@A&FtAo@A'R;A۔A%A@N?A ſAo<*A9?2Apս:A0 BA9?JApսRA0 ٘i)I9o@YG J<JJJJF&K YY~?y_%HAF)7ŧ7<9)ӯBE[[[8]Y~?[Aڪ[[[[BZYY isϮ=) Jv@~< ;?));?;?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040592.083165 s, next control iter: 1743040592.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040592.463165 s.VK~,,AJ"J*J2J:J(?BJ(?nJN5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199482 time: 1743040592.463286F (some fields omitted in printout)Afffff@A,V]Y@A$Z~? A1A:!%"AAXnNA"AZAbAjArAzAAA$ @A2 (GtAXo@AcI<AA!A~?AAÿA<*A9?2AQֽ:A, BA9?JAQֽRA, Y@Uy mI<ٓH? !?@kQ?`bݲ? R,?@?)@ I٘i)I9o@YG J<J#fJJJ F&Ku> Y2Y~?y%tHAFb779)ϯBE[[O[osY~?[6ܪ[[[[BZYY i) PZ~? AA%"AAfnNA"AZAbAjArAzAAA4oz!@A.$HtA-p@Ajs<AŹAJ?.A?A$bAL<*A49?2A?zֽ:AH BA49?JA?zֽRAH ٘i)I9p@Y!G J9<JJJJ F&K YOY~?y&HAF9TB)ӯB[[}[Y~?[ު[[[[BZYY i) ez elevatorAngleAction: 0.085357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743040593.723275F (some fields omitted in printout)Az@AoH@AqZ~? ArA %"AA nNA"AZAbAjArAzAAAr}T"@AexItA%q@A͐2A3AᗅA`h Y߿Y~?y'zJA=F9)BE[[c1[Y~?[/[[[[BZYY i) < elevatorAngleAction: 0.085357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743040594.983292F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@A集@A`Z~? AE"A%"AAbBoNA"AZAbAjArAzAAA+$@A<ǵ4zKtAr@A>A <AXAd=A`Bd?A`6A5<*A9?2Aoս:ABA9?JAoսRA٘i)I9r@YG J<C=JJJJF&K YY~?y'JAF779)BE[[w[+Y~?[c[[[[BZYY i)  elevatorAngleAction: 0.085357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743040596.243326F (some fields omitted in printout)Aףp=J@Aa80=@AR [~? A#Al%"AAmoNA"AZAbAjArAzAAA&@A NLtAVt@Ap<AaA^=Az?AA/<*A9?2AL^ս:ABA9?JAL^սRA٘i)I9t@YG J<JJJJF&K Y0Z~?y&9LAF{7&9)BE[[VȽ[VDZ~?[5[[[[BZYY i)  A`\{?AEpA<*A9?2Aս:AzBA9?JAսRAzYj@ >yeG"V<ٓH?a`X??^A?2?H?)j@ I٘i)I9vu@YeG J<J\JJJF&K#t> YLZ~?yd%LA >Fb7b79)B[[6([\Z~?[[[[[BZYY i) eCA&z?A?AE<*A=9?2Azuս:ABA=9?JAzuսRA٘i)I9!v@YG JX<JJJJF&K YhZ~?y1$)MAF77j79QB)BE[[,v[sZ~?[b[[[[BZYY i) iy elevatorAngleAction: 0.085357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743040597.503279F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@Awއ@Ab[[~? A#Ai%"AA.pNA"AZAbAjArAzAAAl'@A_ >LtA4v@AѻAgA24>A y?A9j?A}<*A*9?2AVRӽ:A@BA*9?JAVRӽRA@٘i)I9v@Y9G J<JJJJF&K YZ~?y"MA EF779)BE[[`([ Z~?[[[[[BZYY i) o?)) ҉>?҉>?P*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743040597.523165 s, next control iter: 1743040597.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14096, header.stamp.nsec: 00 temperature: 13.566463* salinity: 33.375309, density: 1025.000000* values[0]: 0.579167F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040597.923165 s.:^K~,{,AA{G!@A%?@Acu[~? A+#An%"AA&VpNA"AZAbAjArAzAAAxȶz(@A4>3LtAw@AcA0AG>As?Al?A <*A 9?2ACӽ:A! BA 9?JACӽRA! ٘i)I9w@YG Jh<B=JJJJF&K YtZ~?y!NAF)7ŧ7Q9PB)BE[[[^Z~?[[[[[ZZZZ¸>BZYY i¸>P_) *A`l?A?A <*A99?2Aӽ:A-BA99?JAӽRA-٘i)I9Gx@YG J<C=JJJJF&K YfZ~?y NAF79)BE[[#[ּZ~?[[[[[ZZZZBZYY i) A^?A ?An=*Ao9?2AԽ:ABAo9?JAԽRAY<$q>yJٓHo?Ϳ(? o? ص? y| ?)< IƕI٘i)I9y@YG J<J,{;JJJF&K0s> YZ~?yOAq>Fj7j79OB)BE[[N<[Z~?[ [[[[ZZZZBZYY i) AQ?A _?A=*A9?2AHjս:ABA9?JAHjսRA٘i)I9y@Y"G J=JJJJF&K Y?Z~?y}{OAF779)BE[[4/=[iZ~?[[[[[ZZZZBZYY i) DA@ E?A@+T?Al<*A:?2A3ӽ:AXBA:?JA3ӽRAX٘i)I9z@YG J<JJJJ F&K Y[~?ynOAFb7|9)yB[[tb=[[~?[~[[[[ZZZZBZYY i)  ̟A5?A?Aӓ<*AD(:?2Aӽ:AV5BAD(:?JAӽRAV5٘i)I9{@YG J<B=JJJJ"F&K Y*[~?y^ePAF777G9NB)rBùE[[=[[~?[[[[[ZZZZBZYY i) ՓA@#?AL?A^<*AK':?2AԽ:A3;BAK':?JAԽRA3;٘i)I9$|@YvG J<C=JJJJ#F&K YE[~?yPPAFZ7Z79)mBƹE[[=[7[~?[U[[[[ZZZZBZYY i) ߇7,AJ"J*J2J:JBJnJvJA@Am;m@A*\~? A1A%"AAEhqNA"AZAbAjArAzAAA,@A":GtA+|@A{AȱA>A ?A#?AX<*A :?2AԽ:A1y<BA :?JAԽRA1y<٘i)I9|@YG JO<JJJJ$F&K Y`[~?yAPQAFSI7SI79MB)hBɹE[[Z=[sP[~?[[[[[ZZZZBZYY i|) wA?A?A1?<*Ao:?2A@ս:AJ|<BAo:?JA@սRAJ|<٘i)I9 }@YG Jk<JJJJ&F&K Yb|[~?y2QAF7779)dB̹E[[ >[qi[~?[[[[[ZZZZBZYY i) _AE?A?A;*A:?2Aս:Aڹ<BA:?JAսRAڹ<٘i)I9M}@Y+G J!<JJJJ'F&K Yї[~?y#;RAF7ŧ7q9LB)bBϹE[[->[z[~?[g[[[[ZZZZBZYY i) GA`?A@?A2;*A9?2A[ս:A<BA9?JA[սRA<٘i)I9p}@Y@G J;JJJJ(F&K Y<[~?yRAFŧ7<9IB)]BѹE[[2>[[~?[[[[[BZYY i)  0Aa?Ax?AB@*A9?2A>ս:A{=BA9?JA>սRA{=٘i)I9Y JJJJJ*F&K Y[~?y &SAFb79)[[VG>[[~?[[[[[BZYY i) 5&Az?AD?A|<*A9?2Aս:A=BA9?JAսRA=Y_>2>yiLr=<ٓHp?ۿ?s?`d?`??Ek(?O?)_> I٘i)I9M}@Y+G J*JG>JJJ+F&K_> YE[~?yIRA>FZ7Z79HB)^BԹE[[[>[[~?[[[[[BZYY i>O@) c1AWU?A?AH*A9?2AQս:A/u =BA9?JAQսRA/u =٘i)I9 }@YG J!B=JJJJ,F&K Y\~?yRAF7779GB)_B׹E[[Eo>[e[~?[Uߪ[[[[BZYY ih) Vs;Iih?n< փ?))%փ?փ?dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040603.403165 s, next control iter: 1743040603.783175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14102*, header.stamp.nsec: 0*0 temperature: 13.564342** salinity: 33.375381*, density: 1025.000000** values[0]: 0.583229*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040603.803165 s.vAK~,wg,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.256149@ elevatorAngleAction: -0.065140< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743040603.803309F (some fields omitted in printout)A@A崧@A\~? Ao Ah%"AAzsrNA"AZAbAjArAzAAAjv0@Ai o<>tA|@A|X<At=Ai>A .?A `?AlN*A9?2Ayҽ:A=BA9?JAyҽRA=٘i)I9|@YG JqC=JJJJ.F&K Y{\~?y2RAF{7Z7g9FB)aBڹE[[2>[[~?[lݪ[[[[BZYY i) ;;Ii)?b d< ?)) ??ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040603.823165 s, next control iter: 1743040604.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040604.223165 s.gK~,H,AJ"J*J2J:JBJnJvJAzG@A :@AW\~? A A73%"AAØrNA"AZAbAjArAzAAAACvU0@ACn=tA$|@AAˌ;AX=A >A?A]?Ad*At9?2Aҽ:Aȯ=BAt9?JAҽRAȯ=٘i)I9$|@YvG JJJJJ/F&K Y5\~?yQAFj7j729)eBݹE[[>[\~?[X۪[[[[BZYY i) h;IiĪ?Z< 4?))4?4?y4ߪY>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040604.243165 s, next control iter: 1743040604.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040604.643165 s.|K~, *),AA ףp}@A.ep@A ]~? AAi%"AAʽrNA"AZAbAjArAzAAAr4q 1@AR;tA{@A8ܻAcb=AB?A`x?A(9?A+*AP9?2Aӽ:A=BAP9?JAӽRA=٘i)I9{@Y G JاJJJUFJ1F&K YN\~?yZQAFŧ7b79)iB[[>[C/\~?[٪[[[[BZYY i) ̳;Ii;?7R< D?))D?D?y1ƅcY"YFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14103, header.stamp.nsec: 00 temperature: 13.564413* salinity: 33.375397, density: 1025.000000* values[0]: 0.582846F (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743040604.663165 s, next control iter: 1743040605.043182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040605.063165 s.K~,p D,AJ"J*J2J:J5?BJ5?nJt5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065140< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743040605.063313F (some fields omitted in printout)A3333@A0g+@A"]~? AA%"AArNA"AZAbAjArAzAAANS1@AN3vx9tA{@AygAD==A ?Aر?A`\?A÷*A9?2AԽ:A&=BA9?JAԽRA&=YYC>G: ?y8=hٓHYj?_?^I?F}?? ` ?)YC> I٘i)I9{@YG J9B=J^n=JJJ2F&K1p>  9Yf\~? 9yQA: ?F77j79EB)mBE[[7>[vG\~?[֪[[[[BZYY i) rf;Iih?aE< Ռ?))drՌ?Ռ?eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040605.103165 s, next control iter: 1743040605.463183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743040605.483165 s.t_K~,^,AA\@A=ۋ@A:]~? AA %"AAsNA"AZAbAjArAzAAA;I1@Al7tA.cz@AafA=A?A@ʂ?A u?A쿼*A:?2Aս:A]M=BA:?JAսRA]M=٘i)I9cz@YeG J C=JJJJ3F&K Y1\~?y]PAFZ7Z79DB)qBE[[>[_\~?[-Ԫ[[[[BZYY i) R,;Iin?&:< l?))pl?l?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040605.503165 s, next control iter: 1743040605.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14104, header.stamp.nsec: 00 temperature: 13.564584* salinity: 33.375412, density: 1025.000000* values[0]: 0.582249F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040605.903165 s.K~,y,AJ"J*J2J:JBJnJvJAQ@A:d@AR]~? ADA%"AA(+sNA"AZAbAjArAzAAAcc1@AGf~5tAy@AڻA,=Ak?A Q?A?AhcǼ*A &:?2A ӽ:A=BA &:?JA ӽRA=٘i)I9y@YG JüJJJJ5F&K Yt\~?y6PAFŧ7b7\9@B)rBE[[W>[w\~?[sѪ[[[[BZYY i) :IiN?/<  ?))  ? ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040605.923165 s, next control iter: 1743040606.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040606.323165 s.yK~,2,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065140< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743040606.323297F (some fields omitted in printout)AGzT@AoG@Aj]~? AAa%"AAOsNA"AZAbAjArAzAAA`6+2@AZ/{^3tAy@A`;A[Ҩ=AY?A -!?A@?A?G̼*A0:?2A ҽ:Axm=BA0:?JA ҽRAxm=٘i)I9y@YG J ʼJJJJ6F&K Y\~?yaOAFb77'9[C\~?[Ϊ[[[[BZYY i) R^:Ii ?-u&< ٫?))٫?٫?lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040606.343165 s, next control iter: 1743040606.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14105*, header.stamp.nsec: 0*0 temperature: 13.564760** salinity: 33.375420*, density: 1025.000000** values[0]: 0.581560*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040606.743165 s.WK~,y,AJ"J*J2J:J?BJ?nJ5vJAףp=@A.;1}@AX]~? A*A %"AArsNA"AZAbAjArAzAAAUq2@A,_(1tAhx@AUS<AuI=AA?A?AQx?A0ͼ*A4:?2A=ӽ:A\=BA4:?JA=ӽRA\=٘i)I9hx@Y0G JNͼJJJJ7F&K Y\~?yQOAF7{79;B)wBE[[K)>[\~?[z˪[[[[BZYY i) $:IiPw?#H< @R?))@R?@R?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040606.783165 s, next control iter: 1743040607.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040607.163165 s.~}K~,q,AA@A@An]~? AgA%"AAsNA"AZAbAjArAzAAAUe2@A#;.tA0w@A.r<A=A c"?A a?A`'J?Aȼ*A7:?2A,ӽ:Aw =BA7:?JA,ӽRAw =Y->c"?yk=[r<ٓHp?SOk?`??м?@@E??)-> I٘i)I9w@YG J˼JDJJJ9F&Kkr> Y\~?yݪNA"?Fb77 9:B)|BE[[>[H\~?[HȪ[[[[BZYY i) yIic?< ?)) t??ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040607.183165 s, next control iter: 1743040607.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040607.583165 s.K~,R,AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.238406@ elevatorAngleAction: -0.065140< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743040607.583286F (some fields omitted in printout)A)\@Ao+@AE]~? AA9%"AAsNA"AZAbAjArAzAAA3V/!2@AM<{,tA@w@A2<Aw=AS'?A}?A`?AQ*Ae9:?2AԽ:A=BAe9:?JAԽRA=٘i)I9w@YcG JxżB=JJJJ:F&K Yh\~?ypتyNAFZ7Z7 99B)BE[[<>[\~?[Ī[[[[BZYY i)  Ii0R?2< )?))^)?)?תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040607.603165 s, next control iter: 1743040607.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14106, header.stamp.nsec: 00 temperature: 13.564952* salinity: 33.375439, density: 1025.000000* values[0]: 0.580815F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040608.003165 s. K~,j4,AAR+@Aߩ{@A]~? AtA%"AAsNA"AZAbAjArAzAAAA3@Akl*tAyv@A[Al=AW,?A @?A`?A6ߴ*A[:?2Aӽ:Ark=BA[:?JAӽRArk=٘i)I9yv@YG JmC=JJJJ;F&K Y ]~?y7Ӫ NAF77R9)B[[?>[\~?[W[[[[BZYY i) 55Ii=B?; A?)) A?A?ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040608.023165 s, next control iter: 1743040608.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040608.423165 s.uK~,{,AJ"J*J2J:J?BJ?nJ5vJA{Ga@AVp;T@A-]~? ACA{%"AAsNA"AZAbAjArAzAAAA"E3@As'tAu@A]=A3=AT-2?A@?A`?A驼*A>a:?2AԽ:A4:<BA>a:?JAԽRA4:<٘i)I9u@YG JJJJJ=F&K Y"]~?yͪMAF7795B)BE[['>[x]~?[[[[[BZYY i) V"qIi4?$tAZu@ApyA=AX7?A`?AӒ?A⡼*A`:?2ATԽ:A<BA`:?JATԽRA<٘i)I9Zu@YTG JJJJJ>F&K Y9]~?yȪ5MAF7ŧ794B)BE[[=?[ ]~?[[[[[BZYY i) ZIi'?; æ?))æ?æ?ŪY" YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040608.863165 s, next control iter: 1743040609.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040609.263165 s.J "J *J 2J :J r?BJ r?nJ 5vJ *K~,oP,AA̍@ADX@A^~? AxޫA1%"AA?tNA"AZAbAjArAzAAAҁ& 4@A"tA}t@A<3A=Aq YN]~?yªLA?6; W¬?)) W¬?W¬?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040610.143165 s, next control iter: 1743040610.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040610.523165 s.'K~,{,AAHzn@A; /?))/?/?y8oYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040610.543165 s, next control iter: 1743040610.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14109, header.stamp.nsec: 00 temperature: 13.565407* salinity: 33.375469, density: 1025.000000* values[0]: 0.579050F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040610.943165 s.Zd.K~,J],AJ"J*J2J:JBJnJvJAq= ף@A"h̖@A \^~? AK˫A%"AAmtNA"AZAbAjArAzAAAE>. 5@AttGatArr@Au"M<A=AP?A@h?A_?Ag*Af:?2ABԽ:A!=BAf:?JABԽRA!=٘i)I9r@YG JJJJJEF&K YJ]~?y:]KAF779.B)E[[y?[X]~?[[[[[BZYY i) ^Iim>+f; D?))D?D?YIYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040610.963165 s, next control iter: 1743040611.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040611.363165 s.5K~,>,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076825< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743040611.363306F (some fields omitted in printout)Aَ@A;э̎@A_p^~? A.ƫAsS%"AAbtNA"AZAbAjArAzAAAF5@A”ZBtA[r@Aްe;A߬=AU?A?A6?A*A^:?2A`ս:A=BA^:?JA`սRA=Y?BU?y= 4f;ٓHi?5`;??pw? ? Vl??)? I٘i)I9[r@YG JJJJJFF&Kt> Y<]~?yKAU?F7779-B)BE[[Z ?[\]~?[[[[[BZYY i) 'Ii\>s7; ?))ϵx??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040611.383165 s, next control iter: 1743040611.763178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14110", header.stamp.nsec: 0"0 temperature: 13.565541"* salinity: 33.375496", density: 1025.000000"* values[0]: 0.578539"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040611.783165 s.\;K~,,AJ"J*J2J:JBJnJvJA(\@Aw;S@AG^~? AAe%"AAtNA"AZAbAjArAzAAA[15@ADq6tAq@A=A=AI[?AO?A|?A*AV:?2A-&ֽ:At=BAV:?JA-&ֽRAt=٘i)I9q@Y:G JCJJJJGF&K Y/]~?y(JAF77r9)B[[w&?[<]~?[[[[[BZYY i) s7Ii[>* ; ÷?)) ÷?÷?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040611.803165 s, next control iter: 1743040612.183181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040612.203165 s.CK~,q ,AAQE@A9c8@A՗^~? AA%"AAuNA"AZAbAjArAzAAAƭz25@A[,5 tAsq@ALYjA=A^`?A#y?A?A=ʉ*AAg:?2AԽ:A4=BAAg:?JAԽRA4=٘i)I9sq@YG JSJJJJIF&K Y"]~?yIJAFb77= 9,B)BE[[ ,?[]~?[h[[[[BZYY i) VFIi$ >: o?))o?o?2ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040612.243165 s, next control iter: 1743040612.603180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040612.623165 s.SIK~,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: -0.076825< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743040612.623279F (some fields omitted in printout)AGz@A@m@A^~? AA%"AA%9uNA"AZAbAjArAzAAA~Q>h5@A9=o tAp@A aA=A]e?A (?A@j!?A獼*A_:?2AAս:A=BA_:?JAAսRA=٘i)I9p@YG J0JJJJJF&K Y]~?yIAF77{7"9)B[[1?[e]~?[[[[[BZYY i) ɈVIi=#: Y?))Y?Y?ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040612.643165 s, next control iter: 1743040613.023175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14111 , header.stamp.nsec: 0 0 temperature: 13.565667 * salinity: 33.375507 , density: 1025.000000 * values[0]: 0.578085 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040613.043165 s.PK~,B,AA= ף@A+w@A^~? A|A%"AAVuNA"AZAbAjArAzAAAiՋ16@A3>tAp@ASA=A6j?A?A v?A*AX:?2AFZս:A5=BAX:?JAFZսRA5=٘i)I9p@YbG JB=JJJJKF&K Y^~?yIAF7ŧ7#9(B)BE[[H7?[]~?[U[[[[BZYY i) fIi|==!: 1,?))1,?1,?)ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040613.063165 s, next control iter: 1743040613.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040613.463165 s.TWK~,ߤ],AJ"J*J2J:JBJnJvJAffff@AT^ُ@A]^~? AĪAOd%"AATruNA"AZAbAjArAzAAAiƐi6@AQ\tAp@A>;Abڕ=A1o?A`_?A@J?A+*AwP:?2A_ս:AO =BAwP:?JA_սRAO =Y7?o?yٕ=;ٓH,?`I?γ? ?{?@t??)7? I٘i)I9p@YG JC=J{<JJJMF&K Y^~?yw-IAo?F777%9&B)BE[[9=AJt?A*?A?A?J*ASI:?2A|ս:AN=BASI:?JA|սRAN=٘i)I9{o@YG JAJJJJNF&K Y"^~?y`|HAFb77g'9)B[[B?[&^~?[}[[[[BZYY i) :II?iP@8 N?)) N?N?SѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040613.903165 s, next control iter: 1743040614.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040614.303165 s.WdK~,{g,AJ"J*J2J:J?BJ?nJ5vJAQ@AbD@A5^~? AAG%"AAHuNA"AZAbAjArAzAAAA6@A:QVsA n@Ap<A=Ay?A@Q?Ar?A̒*AW:?2A|wԽ:Alw=BAW:?JA|wԽRAlw=٘i)I9n@YkG JJJJJOF&K Y=3^~?yJudHAF772)9%B)B E[[;-H?[:^~?[w[[[[BZYY iض) =҉I I?i$ s?))s?s?ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040614.323165 s, next control iter: 1743040614.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14113., header.stamp.nsec: 0.0 temperature: 13.565961.* salinity: 33.375515., density: 1025.000000.* values[0]: 0.576999.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040614.723165 s.kK~,H,AAz@Aӹz@A_~? AA̼%"AAuNA"AZAbAjArAzAAAJQ 7@AߤsA;^n@A><Aӑ=A>~?A E?A?A,*AR:?2A$!ս:A=BAR:?JA$!սRA=ŕI٘i)I9^n@YG J-JJJJQF&K YC^~?y2nGAF777*9"B)B E[[$M?[N^~?[\q[[[[BZYY i) /jI I?i1Y ??))????ժYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040614.743165 s, next control iter: 1743040615.123183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743040615.143165 s.X/rK~,*,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085798J< massPositionAction: 0.000000"J*J4 buoyancyAction: 0.0005002J dt: 0.420009:JBJ2 time: 1743040615.143287F (some fields omitted in printout)nJvJA ףp@AjN^d@A~_~? AȒA3%"AAuNA"AZAbAjArAzAAA/2>7@A]qsAm@A$:"AU=A0?A@2?A?AŲ*AG:?2ADս:AC=BAG:?JADսRAC=٘i)I9m@YG JJJJJRF&K YT^~?ygGAF7,9!B)B E[[wS?[a^~?[j[[[[BZYY i) RII?iZ! ?))??DتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040615.163165 s, next control iter: 1743040615.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040615.563165 s.xK~,R ,AA3333@A=|(@A'_~? AA%"AAKuNA"AZAbAjArAzAAA?tQUp7@Aa)9sA`Cm@AaBA=A:?A`s?A]?A(*Aj=:?2ALֽ:A,B=BAj=:?JALֽRA,B=YoQ?Ä?y= BٓH9?"?w? ???J`Lu?)oQ? I٘i)I9Cm@YgG JJ?<JJJSF&Kv> Yc^~?y_/GAÄ?F7.9)B[[TXY?[t^~?[dd[[[[BZYY i) =xII?is 7 J?)) J?J?y۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040615.603165 s, next control iter: 1743040615.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14114, header.stamp.nsec: 00 temperature: 13.566130* salinity: 33.375523, density: 1025.000000* values[0]: 0.576392F (some fields omitted in printout)*c^~?)*_ rAdjusting time to match Gazebo time: 1743040615.983165 s.K~,,AJ"J*J2J:JBJnJvJA\(@A#)@A&7_~? A'AS(%"AAvNA"AZAbAjArAzAAAp 537@A~,sA$l@AnuA=A?A?A`ܧ?A]*A2:?2AQֽ:A=BA2:?JAQֽRA=٘i)I9l@YG J*JJJJUF&K Yoq^~?yWFAF)7b7]09B)BE[[C_?[N^~?[][[[[BZYY i) cI2H?iTE^ ?)) ??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040616.023165 s, next control iter: 1743040616.383183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743040616.403165 s.&K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085798< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743040616.403306F (some fields omitted in printout)AQ^@A٭Q@AF_~? AA%"AA2(vNA"AZAbAjArAzAAAˈ7@Af:sA$l@A,^'Aqi=A ?A ?A?A*A9:?2A̘ս:A =BA9:?JA̘սRA =٘i)I9$l@YG J[JJJJVF&K Y^~?y_PYFAFŧ7'29)B[[d?[v^~?[V[[[[BZYY i) bIH?i Ⱦ m?))m?m?YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040616.423165 s, next control iter: 1743040616.803184 s, wait time: 0.380019 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14115", header.stamp.nsec: 0"0 temperature: 13.566309"* salinity: 33.375530", density: 1025.000000"* values[0]: 0.575794"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040616.823165 s.K~,-4,AJ"J*J2J:Jg?BJg?nJ5vJAGz@A*dq@AV_~? A yA$%"AA?vNA"AZAbAjArAzAAAS+7@AH|G8sAk@A$ xA>=A?A*?A7?A*A0:?2Anս:A"=BA0:?JAnսRA"=٘i)I9k@Y[G JJJJJXF&K Y'^~?yHEAF39B)BE[[j?[:^~?[O[[[[BZYY i) ضIH?i޾s hF?))hF?hF?Y"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040616.843165 s, next control iter: 1743040617.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040617.243165 s.K~,`O,AAףp=ʑ@AR1@Ad_~? AxrA%"AAVvNA"AZAbAjArAzAAA]K,8@A{u/)sA'j@A&<AÉ=A?A@e?Ay?A_ż*A':?2A]Zս:A=BA':?JA]ZսRA=٘i)I9j@YG J-JJJJYF&K Y^~?y8AEAF{7j759B)ïBE[[{p?[^~?[H[[[[BZYY i) TMIZH?i9Ab %?))%?%? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040617.263165 s, next control iter: 1743040617.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040617.663165 s.K~,qj,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085798< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743040617.663276F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14116, header.stamp.nsec: 00 temperature: 13.566520* salinity: 33.375549, density: 1025.000000* values[0]: 0.575120F (some fields omitted in printout)A@Af@Acs_~? AkAC(%"AAlvNA"AZAbAjArAzAAAW8@A, sAAj@Aw<AD=A6?A`9?A@U?AM̼*A:?2Abս:A(=BA:?JAbսRA(=YpLk??y)߮=Ux<ٓH໺?`G\V?w?+?1?յ`?@8?)pLk? I٘i)I9Aj@YG JȼJY<JJJZF&KFv> YU^~?y;9 EA?Fj7Z779)ɯB[[`v?[8^~?[>A[[[[BZYY i) żIH?i4ή ?))??FYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040617.683165 s, next control iter: 1743040618.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040618.083165 s.DK~,S,AA)\5@A_(@A^_~? AdA%"AATvNA"AZAbAjArAzAAA.{48@Aܛ_sA]i@ADF<A{°=A[-?A?A?Aoϼ*A:?2Aս:A=BA:?JAսRA=٘i)I9i@Y)G J)μJJJJ\F&K Y'^~?y?1DAFS77R99B)ͯBE[[l;|?[x^~?[9[[[[BZYY i) ̼IH?i ?)) ??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040618.123165 s, next control iter: 1743040618.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040618.503165 s.K~,L4,AJ"J*J2J:JBJnJvJARk@A $y^@A_~? A]A2%"AA2vNA"AZAbAjArAzAAAx48@AusAh@Ar5;AY=Abޖ?A:?A (=?ALϼ*A:?2A ս:A'=BA:?JA սRA'=٘i)I9h@Y G JϼJJJJ]F&K Y^~?yC)"DAF77;9B)ϯBE[[?[G^~?[*2[[[[BZYY i) ԼI+H?i"9л ?))??,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040618.543165 s, next control iter: 1743040618.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14117, header.stamp.nsec: 00 temperature: 13.566771* salinity: 33.375568, density: 1025.000000* values[0]: 0.574364F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040618.923165 s.:K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085798< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743040618.923291F (some fields omitted in printout)A{G@A;@A_~? AVA%"AA^vNA"AZAbAjArAzAAAթJ8@A!XasAW7h@A A:=A?A"?A`y?A%,ϼ*A:?2Alֽ:A,=BA:?JAlֽRA,=٘i)I97h@YT G JϼJJJJ^F&K Y^~?yG!CAFŧ7b7<9)ԯB[[?[^~?[b*[[[[BZYY i) UۼIH?i,-ݻ ?))??%Y%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040618.943165 s, next control iter: 1743040619.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040619.343165 s.<K~,,AJ"J*J2J:J?BJ?nJ5vJAp= ג@A~Wɒ@A_~? AOAD%"AAؾvNA"AZAbAjArAzAAA:@8@AcsAg@AnAw=AV=?AlK?A *?Acм*A :?2Aֽ:A=BA :?JAֽRA=٘i)I9g@Y G JϼB=JJJJ`F&K Y^~?yJ7CAFb77>9B)ٯBE[[r?[q _~?[s"[[[[ZZ¸BZYY i¸=) ^ϼI&H?i4j |?))|?|?HYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040619.383165 s, next control iter: 1743040619.743176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14118*, header.stamp.nsec: 0*0 temperature: 13.567030** salinity: 33.375561*, density: 1025.000000** values[0]: 0.573611*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040619.763165 s.9K~,',AA @A0@A_~? AHA%"AAvNA"AZAbAjArAzAAASDh9@A sArf@A[A=A՞?Ar?A?A{Լ*AI:?2Aֽ:A!=BAI:?JAֽRA!=YZ??yb=B\ٓH@B?`~E@"?$?h?@?`׶w?)Z? I٘i)I9f@Y G JҼC=J<JJJaF&KLw> Y^~?yBA?F77{7}@9)ޯB[[?[_~?[z[[[[ZZBZYY i) CNüIH?iC| Y?))Y?Y?fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040619.783165 s, next control iter: 1743040620.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040620.183165 s.K~,R ,AJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJvJ( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083299< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743040620.183312F (some fields omitted in printout)A(\B@Af5@AX_~? AAAz[%"AAvNA"AZAbAjArAzAAAmE"A9@AS7FsAOf@Ab+A=AY?A@K?A@V?A*A :?2AØֽ:Ao<BA :?JAØֽRAo<٘i)I9f@Y G JJJJJbF&K Y^~?yBBAF77HB9B)BE[[x?[-'_~?[X[[[[ZZBZYY i) >?))>?>?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040620.203165 s, next control iter: 1743040620.583174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743040620.603165 s.74K~,&,AAQx@A$}ZEk@A_~? A6:A8%"AAvNA"AZAbAjArAzAAA# c9@AqѽsA1e@A=;A=Aڣ?A?A Q?A*At:?2Axpֽ:A' <BAt:?JAxpֽRA' <٘i)I91e@Y} G JJJJJdF&K Y#^~?yXAAF)7ŧ7D9B)BE[[y?[F4_~?[ [[[[ZZBZYY i) ,IH?i\[c +?))+?+?yM=ժYFFF]Waiting for Gazebo time sync: latest Gz time: 1743040620.643165 s, next control iter: 1743040621.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14119 , header.stamp.nsec: 0 0 temperature: 13.567298 * salinity: 33.375580 , density: 1025.000000 * values[0]: 0.572772 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040621.023165 s.ZK~,|A,AJ"J*J2J:J?BJ?nJ5vJAHz@A#=@A=_~? A2AQx%"AAwNA"AZAbAjArAzAAA9@AT7RsAzVd@A:bW<Aw=ARh?A?A ?A6*Az:?2A$uֽ:A?iv<BAz:?JA$uֽRA?iv<٘i)I9Vd@Y G JJJJJeF&K YN^~?yLAAF77E9)B[[?[@_~?[[[[[ZZBZYY i) WI[H?i1d  ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040621.043165 s, next control iter: 1743040621.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040621.443165 s.9K~,F]\,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083299< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743040621.443301F (some fields omitted in printout)Aq= @A֓@Aw_~? Aj+A%"AAwNA"AZAbAjArAzAAA9@AɴsAqc@Am]<Aj2=A?A?A@A?A׼*Aa:?2Avֽ:A;BAa:?JAvֽRA;٘i)I9c@Y G JJJJJfF&K Yy_~?y@AF{7Z7G9 B)BE[[-?[L_~?[[[[[ZZBZYY i)  IH?ikg :?)):?:?zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040621.463165 s, next control iter: 1743040621.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14120, header.stamp.nsec: 00 temperature: 13.567644* salinity: 33.375580, density: 1025.000000* values[0]: 0.571784F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040621.863165 s.+K~,>w,AJ"J*J2J:J`?BJ`?nJ|5vJA@A8 @A5_~? A#Ap%"AA$wNA"AZAbAjArAzAAA$f 9@A")a6sA$b@Aw;A j<AC?A?A@?AwK*A:?2Aֽ:AɺBA:?JAֽRAɺYz?Ʈ?yh<;ٓH?`(@?@t&?@m$?x? Wnz? ?)z? I٘i)I9b@Y G J!ǼJMJJJhF&Kw> Y _~?y@A?F7{7rI9)B[[?[X_~?[x[[[[ZZBZYY is=) I\zH?ix  ?))??rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040621.903165 s, next control iter: 1743040622.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040622.283165 s.8RK~,,AA(\O@A yPB@Au_~? A]A]-%"AA"3wNA"AZAbAjArAzAAAtj9@A0{sAfb@AVA<A4H?A9?A ?A}*A:?2A)ֽ:AYBA:?JA)ֽRAY٘i)I9fb@Y G JӚJJJJiF&K YZ_~?yީ@AF7)7=K9 B)BE[[\?[b_~?[[[[[ZZBZYY iv=) $|IblH?ie& ?))??cYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040622.303165 s, next control iter: 1743040622.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14121., header.stamp.nsec: 0.0 temperature: 13.567907.* salinity: 33.375576., density: 1025.000000.* values[0]: 0.571044.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040622.703165 s.պK~, ,AJ"J*J2J:J/?BJ/?nJI5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.078351< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199382 time: 1743040622.703266F (some fields omitted in printout)AQ@A6x@A6_~? AAu%"AA@wNA"AZAbAjArAzAAA}9@Aވ`sA b@AޅXAֻA߰?A S?A7?A" *A!:?2Azֽ:AqBA!:?JAzֽRAq٘i)I9 b@Y G JVB=JJJJjF&K Y_~?yթf@AFS77M9)B[[,?[l_~?[ީ[[[[ZZBZYY i) hI]H?ir, @))@@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040622.723165 s, next control iter: 1743040623.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040623.123165 s.5K~,T,AAGẔ@A<խ@Ay`~? A AV%"AAMwNA"AZAbAjArAzAAAW|:@AhYEsAa@A{AAxv?A?A^?Ac*A :?2Aֽ:A6BA :?JAֽRA6٘i)I9a@Yr G JC=JJJJlF&K Y;_~?yXͩB@AF7777N9 B)BE[[1?[0v_~?[թ[[[[ZZBZYY i) ySIOH?ik@-1 n{@))n{@n{@yBޠ=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040623.143165 s, next control iter: 1743040623.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040623.543165 s.IK~,,AJ"J*J2J:JBJnJvJA= ף@AZ@A: `~? A\A%"AAYwNA"AZAbAjArAzAAA.`S,':@A͜sAa@AAy-A ?A2?Am?Aa*A9?2Aưֽ:AQoҼBA9?JAưֽRAQoҼ٘i)I9a@Ye G JgRJJJJmF&K Y%_~?yĩ@A F{7P9)[[G?[~_~?[̩[[[[BZYY i) >I?H?iy4 >@))>@>@2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040623.563165 s, next control iter: 1743040623.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14122, header.stamp.nsec: 00 temperature: 13.567984* salinity: 33.375557, density: 1025.000000* values[0]: 0.570698F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040623.963165 s.}K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.078351< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743040623.963299F (some fields omitted in printout)Affff&@AJ[\@Ax`~? AA %"AANewNA"AZAbAjArAzAAA# =:@A)MAјsAa@Aʻ_:A2A0?A .)?A`?A:;*A9?2A׽:ABA9?JA׽RAY??y2{_:ٓH`C? FGsี?`[F?;[?yK?.?)? I٘i)I9a@Yh G JL:J*JJJnF&Kx> YE)_~?yZ@A? F77hR9)[[X?[_~?[é[[[[BZYY i4k=) .I0H?iD< #|@))#|@#|@Fp*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040624.003165 s, next control iter: 1743040624.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040624.383165 s.K~,4,AJ"J*J2J:JBJnJvJA(\@A}O@A2`~? AA%"AAowNA"AZAbAjArAzAAA+Q:@A sA'a@A/<A, elevatorAngleAction: 0.066751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199492 time: 1743040625.223286F (some fields omitted in printout)J"J*J2J:JBJnJvJAzǕ@A0𡺕@A&`~? A AN%"AAʂwNA"AZAbAjArAzAAA,u:@A-_psAnb@A2<ASA2?A?A&?AƄ_<*A9?2A׽:A BA9?JA׽RA ٘i)I9nb@Y G J+C<JJJJrF&K Y4_~?y¡AAF77W9)B[[d?[_~?[[[[[BZYY i) U)IG?i枿&dK  @)) @ @y&=7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040625.243165 s, next control iter: 1743040625.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040625.643165 s.wK~, *i,AA ףp@A"g@AC+`~? AުA%"AAwNA"AZAbAjArAzAAAѳ@:@ATsAUb@AY:AĬA(?A?A ?A<*A9?2Aֽ:A/BA9?JAֽRA/٘i)I9b@Y G Jw<B=JJJJtF&K Y7_~?yJAAF{7j7Y9)B[[Ĵ?[*_~?[8[[[[BZYY i) ջIG?iM ď @))ď @ď @3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040625.663165 s, next control iter: 1743040626.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14124, header.stamp.nsec: 00 temperature: 13.567804* salinity: 33.375599, density: 1025.000000* values[0]: 0.571058F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040626.063165 s. K~,V ,AJ"J*J2J:J0?BJ0?nJJ5vJA33333@A &(&@A/`~? A)֪A %"AAwNA"AZAbAjArAzAAAQ4`:@A~οsAQc@AڷAJBA?A?A)?A<*A9?2A_ֽ:A2BA9?JA_ֽRA2Y>??y@#$ٓHf?@5؆X?4.?#?ւ ?)>? I٘i)I9Qc@YY G J<C=J䗽JJJuF&Kw> Yd8_~?y5AA?Fj7][9)B[[޷?[_~?[Ŕ[[[[BZYY i) VIG?i꥿^T  @)) @ @_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040626.083165 s, next control iter: 1743040626.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040626.483165 s.y_'K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743040626.483326F (some fields omitted in printout)A\h@A[@A4`~? A.ΪA&"AABwNA"AZAbAjArAzAAAy}::@AqС{sAac@ArAE^AR7?A ?A elevatorAngleAction: 0.066751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743040627.743296F (some fields omitted in printout)Aףp= @A.;1@AW=`~? AA &"AAwNA"AZAbAjArAzAAA͖ :@A#H.msA?e@A$;AhAC?A@ r?Ag?A.<*A9?2AH׽:A$ BA9?JAH׽RA$ ٘i)I9e@Y G J<JJJJzF&K YO;_~?ymMCAF777b9B)ԯBE[[uh?[/_~?[Sn[[[[BZYY i) HI G?ioa 6@))6@6@<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040627.763165 s, next control iter: 1743040628.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040628.163165 s.w}BK~,q ,AA@@A2r2@A]?`~? A AD&"AAwNA"AZAbAjArAzAAA}.:@As:}ChsA.6f@Adg<AHA?A@*?A@q?Ap(<*A9?2AWp׽:AiBA9?JAWp׽RAiYn??yDhh<ٓH` h@@y?? ⽳@m ó?@C?@?)n? I٘i)I96f@Y G Js<JJJJ|F&Kx> Y*9_~?y;dCA?F{7{7Sd9)ϯB[[N?[_~?[d[[[[BZYY i) 쑂I|G?ii f @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040628.183165 s, next control iter: 1743040628.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040628.583165 s.HK~,R%,AJ"J*J2J:JBJnJvJA)\u@Ajh@A@`~? AA/&"AAϮwNA"AZAbAjArAzAAANv:@AjVcsAf@Ac<AA elevatorAngleAction: 0.066751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743040629.003283F (some fields omitted in printout)AR@A|@AA`~? A杪Ai&"AAwNA"AZAbAjArAzAAA<$:@A^"h^sA_g@A8v;AȚA?A Uȓ?A|?A <*A9?2Aֽ:A)2BA9?JAֽRA)2٘i)I9_g@Y G JX<JJJJ~F&K Y4_~?yRDAFg9)ƯB[[ elevatorAngleAction: 0.066751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198492 time: 1743040630.263292F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@A3?@AA`~? AA&"AAwNA"AZAbAjArAzAAA:G:@Ar.OsA"i@AnAϒA?A%A@{?Aa<*A9?2Aֽ:A;BA9?JAֽRA;Y??y˒=oٓHTƿA\i?Նƿ`umU? ލ?)? I٘i)I9"i@Y G J<JZ<JJJF&Kax> Y+_~?yv8EA?Fb7b7Hm9B)BE[[X?[(_~?[4[[[[BZYY i) 3k;I7G?ii|s ~@))~@~@**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040630.283165 s, next control iter: 1743040630.663176 s, wait time: 0.380011 s6tReceived state from Gazebo (printed only once in a while):62 header.stamp.sec: 141296, header.stamp.nsec: 060 temperature: 13.5664516* salinity: 33.3756036, density: 1025.0000006* values[0]: 0.5744656F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040630.683165 s.ljK~,^,AA(\@Afu@Ah@`~? A}AD&"AAPwNA"AZAbAjArAzAAAbT:@A3(JsAni@AJ A=ۏA`?A`MA`v?AM<*A!9?2Aֽ:A(BA!9?JAֽRA(ĕI٘i)I9i@Y;G J٫<JJJJF&K Y&_~?y/%FA Fj7j7o9B)BE[[?[H_~?[k*[[[[BZYY i) 3!;IG?iݰv | @))| @| @"*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040630.683165 s, next control iter: 1743040631.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743040631.103165 s.qK~,,AJ"J*J2J:JBJnJvJAQ@ABF@A>`~? AuAL&"AA5wNA"AZAbAjArAzAAA>:@A4A|EsA;j@Ab;Ax5AZ?A`GAn?A*<*A9?2A)׽:ABA9?JA)׽RA٘i)I9;j@YG JJ<JJJJF&K Y!_~?y!'FA"Fb77p9)B[[m?[_~?[ [[[[BZYY i) ;IF?iKx @))@@~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040631.123165 s, next control iter: 1743040631.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040631.523165 s.wK~,{,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743040631.523282F (some fields omitted in printout)AHz@A+J @A<`~? AtmA&"AAJwNA"AZAbAjArAzAAAXfZ:@ADg@sA?j@Aa<<AAK?AAqd?A3<*A9?2ABf׽:AozBA9?JABf׽RAoz٘i)I9j@YG JT<JJJJF&K Y_~?ywFA#F77r9)B[[?[3_~?[[[[[BZYY iX=) 7;IF?i*¿x ].!@))].!@].!@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040631.543165 s, next control iter: 1743040631.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14130, header.stamp.nsec: 00 temperature: 13.566168* salinity: 33.375603, density: 1025.000000* values[0]: 0.575135F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040631.943165 s.Xd~K~,B],AJ"J*J2J:JBJnJvJAq= #@A{@A9`~? AjeA&"AAwNA"AZAbAjArAzAAA>@M4:@Ag;sA'9k@Au<AAh?A`qֵAdW?A1<*A9?2Ad׽:ABA9?JAd׽RA񼙘٘i)I99k@Y)G J<JJJJF&K Y_~?yMGA$F{7j7st9)B[[?[_~?[~ [[[[BZYY i) T;IF?iIgw P"@))P"@P"@e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040631.963165 s, next control iter: 1743040632.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040632.363165 s.K~,>,AAY@AR L@A6`~? Ad]A&"AAwNA"AZAbAjArAzAAAE:@An7sArk@Ab-<A8䈽AX?AAG?A"<*A9?2A'׽:ABA9?JA'׽RAY?!?yA∽ -<ٓHjѿ?S?@?kѿ`]`? Y_~?yU GA?&F>v9B)BE[[ elevatorAngleAction: 0.075732< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J*J dt: 0.4200352J:J2 time: 1743040632.783328BJF (some fields omitted in printout)nJvJA(\@AO@A2`~? AeUA&V &"AAwNA"AZAbAjArAzAAA?>:@A _&2sA )l@AV:A4IAl~?A`At5?A<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9)l@YG Jg<C=JJJJF&K Y_~?yHA'Fŧ77x9)B[[l?[T_~?[r[[[[BZYY i) v elevatorAngleAction: 0.075732< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743040634.043296F (some fields omitted in printout)A= ף0@AƄ#@A5$`~? A=AT( &"AAwNA"AZAbAjArAzAAAJpo:@AVp#sAߜm@A~FIAҌA5?AMIĿA`?A5<*A9?2Aֽ:AmUBA9?JAֽRAmU٘i)I9m@YG J}<C=JJJJF&K Y^~?yyIA+F77{7h}9B)BE[[?[i_~?[Rި[[[[BZYY i) ޏE Y ^~?yLxIA?,F{7j739B)B E[[)?[^_~?[ը[[[[BZYY i) iT elevatorAngleAction: 0.075732< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743040635.303291F (some fields omitted in printout)Aњ@AYjĚ@A `~? A&A &"AACmwNA"AZAbAjArAzAAA[ǖɳ5:@A@CsAo@Ai<AA}E?AɿA`U?As<*A9?2A?j׽:ABA9?JA?j׽RA٘i)I9o@YG J<JJJJF&K Y^~?yҨ7JA/Fj7j7Ȃ9)B[[߈?[IG_~?[¨[[[[BZYY i=) Bs elevatorAngleAction: 0.084758< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743040636.563279F (some fields omitted in printout)A3333s@Am(f@AG_~? AA&"AA~JwNA"AZAbAjArAzAAAR8#9@A?g+sAp@AӫA}A=s@A@TϿA 9#?A<*A9?2A{ֽ:A2BA9?JA{ֽRA2Y0?y@y񴚽QٓH ݿZV(?`B@? ݿ Q? xzu`?)0? I٘i)I9p@YiG J<J!jJJJF&Kx> YӮ^~?yѺ_KAy@3FZ7(9B)BE[[H@[_~?[z[[[[BZYY i) ǐ,AA\@A.ꛛ@A]_~? AdAM&"AAe=wNA"AZAbAjArAzAAA9@A.sAq@A[AߝA@AпA?AC<*A*9?2Al@ֽ:AkBA*9?JAl@ֽRAk٘i)I9q@YG J<JJJJF&K Y^~?yKA4F7779)|B[[@[_~?[⟨[[[[BZYY i) N elevatorAngleAction: 0.084758< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743040637.823295F (some fields omitted in printout)AGz@Ao@A_~? AdAs&"AA wNA"AZAbAjArAzAAA9@Aq#arA=Cr@A_A A6Y@A@dRҿA ?A<*A9?2Aֽ:A&BA9?JAֽRA&٘i)I9Cr@YrG J<JJJJF&K Ys^~?yoLA7F7{79B)uBE[[I@[^~?[[[[[BZYY i) ] Yj^~?yOpMA @:F)7ŧ79 B)mBE[[lq @[^~?[~[[[[BZYY i) e: elevatorAngleAction: 0.084758< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743040639.083295F (some fields omitted in printout)A)\µ@A닄@As_~? AcA#&"AAvNA"AZAbAjArAzAAA359@A\rA* t@A$s<AAa @A AԿA?A-<*A79?2AF׽:ABA79?JAF׽RA٘i)I9 t@YG J6<JJJJF&K Y$[^~?yMA;F{7j79)iBE[[8 @[c^~?[v[[[[BZYY i) F7b7~9)aB[[)@[y^~?[g[[[[BZYY i) F; elevatorAngleAction: 0.084758< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743040640.343295F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@Af2I@A_~? A ͩA&"AAvNA"AZAbAjArAzAAAW{b8@AhrAu@A&AAn%@Ap׿AR?A4<*A89?2A#ֽ:A<BA89?JA#ֽRA<٘i)I9u@YG J<C=JJJJF&K Y^,^~?yv6OA?Fŧ77I9 B)]BE[["@[ā^~?[E`[[[[BZYY i)  Yy^~?y.pOA@@F77{79)WB[[J@[im^~?[Y[[[[BZYY i) g elevatorAngleAction: 0.084758< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743040641.603284F (some fields omitted in printout)AQ@AׇF@An_~? AtA[&"AA }vNA"AZAbAjArAzAAA%M 5I8@A&ZrAx@A6&AqഽA@AٿAǐ?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9x@YG J@<JJJJF&K Y]~?ybPACF77{79)NB[[h@[0C^~?[K[[[[ZZZZ¸>BZYY i¸>4) 9)DB[[H@[<^~?[=[[[[ZZZZBZYY i) ݽ ,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083108< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743040642.863301F (some fields omitted in printout)A@A@AA_~? AA&"AA:vNA"AZAbAjArAzAAAZ7@AQIrAoz@A%[<AՌA@A5ܿA`|?Ad<*AM9?2A׽:AʯBAM9?JA׽RAʯY @@yXY"\<ٓH/`Ą@ᴯ?E{? Mǥ?p??) @ I٘i)I9oz@YlG JK=J=JJJF&Kx> Y޾]~?yNQA@GFb77 9B)@BE[[c @[n^~?[m7[[[[ZZZZBZYY i) >8|@A Aw/A@A`aݿAU"?AX<*A9?2Aֽ:A+ĻBA9?JAֽRA+Ļ٘i)I9|@YaG JO<B=JJJJF&K YȖ]~?yaBRAJFŧ7b79)5B[[#@[]~?[C+[[[[ZZZZBZYY i) W[@Aj^~? AAeB&"AAuNA"AZAbAjArAzAAAwb6@A?}pgrAՌ}@AԻAf;AZ@A ߿A`4?A2<*A.9?2Aֽ:AJ4~<BA.9?JAֽRAJ4~JJJF&KCw> YX]~?yl0SA@NFb7b79),B[[ܹ"@[]~?[[[[[ZZZZBZYY iAy) wt))P>e3S@]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040644.983165 s, next control iter: 1743040645.363182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040645.383165 s.UK~,/X!,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.060853< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743040645.383280F (some fields omitted in printout)J"J*J2J:JBJnJvJA(ܟ@A(>ϟ@A^~? AA#&"AAĢuNA"AZAbAjArAzAAA]dתc6@AyTүrA }@Az;Aij<A@A@5IA`?A;*A9?2A^Dֽ:Ag<BA9?JA^DֽRAg<٘i)I9}@YvG J <JJJJF&K YB]~?y*zSAOF77{7ɭ9B)-B޹E[[A$@[o]~?[M[[[[ZZZZBZYY i?ʒ) ma5vJAzG@ARd:@A^~? A|tA&"AAkuNA"AZAbAjArAzAAAO#6@AXnިrAg}@A!p<A4?7=A b!@A`Ac6?A)瓻*A$9?2Aֽ:At<BA$9?JAֽRAt<٘i)I9}@YxG JJJJJF&K Y]~?yfSARFj7j7^9)/B[[}I'@[<]~?[ [[[[BZYY i) <JJJF&Kx> Y\~?ye SA$@TF77779#B)8BչE[[K*@[}]~?[[[[[BZYY ipg) PD?iNIq H7))H7&Z@7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040647.103165 s, next control iter: 1743040647.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040647.483165 s.t_wK~,!,AA\@Ao۠@A}^~? AJdA0&"AAuNA"AZAbAjArAzAAAaRxn5@AzRrA}@A9a'AC=A%a%@AUAF?AY*AK9?2Aֽ:A =BAK9?JAֽRA =٘i)I9}@YG J!DB=JJJJF&K YQ\~?yRAVFŧ7b79):B[[+@[\~?[b[[[[BZYY i) vn 5vJ }K~,!,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056419< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743040647.903292F (some fields omitted in printout)AQ@A@Ai^~? A$_A =&"AAtNA"AZAbAjArAzAAAEh?25@A^DtכrA˪|@AjAfi=Ad&@A`:A?A?ƃ*A9?2ALֽ:At =BA9?JALֽRAt =٘i)I9|@YG JoC=JJJJF&K Y\~?y bRAWF9&B)@BѹE[[vJ-@[o\~?[l[[[[BZYY i) Q;I)D?i+:L A4))A4]@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040647.943165 s, next control iter: 1743040648.303182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743040648.323165 s.vK~,%",AAGzT@A½2oG@AaU^~? AZAp&"AAtNA"AZAbAjArAzAAAjq4@A'BǘrAm4|@A0A'=A'@A ̆A?A*Ad9?2Aֽ:A!s =BAd9?JAֽRA!s =٘i)I94|@YG J錼JJJJF&K Y\~?yRAYF{7{7T9'B)FBιE[[.@[\~?[[[[[BZYY im) W\;I D?i,2ݻ 2))2__@y@gϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040648.343165 s, next control iter: 1743040648.723177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14147., header.stamp.nsec: 0.0 temperature: 13.384074.* salinity: 33.391708., density: 1025.000000.* values[0]: 0.708400.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040648.743165 s.WK~,m/",AJ"J*J2J:JY5?BJY5?nJ(>5vJAףp=@A1}@A@^~? A;UAX&"AA޸tNA"AZAbAjArAzAAA%ε4@AkLȠʕrAY{@An̺AR=A>)@A`SA@ ?A`*A9?2AMnֽ:Aq =BA9?JAMnֽRAq =٘i)I9{@Y/G JiJJJJF&K YW\~?yQAZFb7b79)B)KB˹E[[>0@[\~?[([[[[BZYY i) ϗ;I5D?i]ɻ ?1))?1`@ygԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040648.783165 s, next control iter: 1743040649.143175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743040649.163165 s.y}K~,qJ",AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743040649.163299F (some fields omitted in printout)A@Ag{@A+^~? AxPA_&"AANtNA"AZAbAjArAzAAAp܌$v4@ARrA{@AM <A=Af*@AAnH?A*Aǫ9?2Ab"ֽ:A =BAǫ9?JAb"ֽRA =Y̓@*@y/=iz <ٓH Y#jݿ`/K?.k`*?X|b? G?)̓@ I٘i)I9{@YG JڪJ=JJJF&Kw> YAq\~?yTQA*@[F7)79)PB[[1@[\~?[[[[[BZYY i) &z;I3D?i /))/^b@yAՇ<ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040649.203165 s, next control iter: 1743040649.563178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040649.583165 s.K~,Re",AJ"J*J2J:JBJnJvJA)\@A I@Af^~? AKA&"AAFytNA"AZAbAjArAzAAA@z54@A rAyz@Af<Ad=A+@A4]A`N?A&*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9z@Y|G J̱JJJJF&K Y-X\~?y PA]Fb779*B)VBȹE[[J33@[lg\~?[[[[[BZYY i) n;ID?iF  B.))B.c@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040649.603165 s, next control iter: 1743040649.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14148, header.stamp.nsec: 00 temperature: 13.384330* salinity: 33.391708, density: 1025.000000* values[0]: 0.707292F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040650.003165 s.z K~,U4",AAR+@Agy@A^~? AXGA&"AAXtNA"AZAbAjArAzAAAo%̚3@AeҎPrADy@AH<A=A!-@A`Aз?Aﲼ*A_9?2ADֽ:A =BA_9?JADֽRA =٘i)I9y@Y G JJJJJF&K Y?\~?yPA^F)7ŧ7~9,B)\BŹE[[.4@[L\~?[[[[[BZYY i) w2;ID?iv ~,))~,7Ze@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040650.043165 s, next control iter: 1743040650.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040650.423165 s.(uK~,",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: -0.065673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743040650.423298F (some fields omitted in printout)A{Ga@A3A8&"AAutNA"AZAbAjArAzAAAIjpn3@Ap{rAx@AѻA=A /@Ap%A$?A*A`9?2Aֽ:A=BA`9?JAֽRA=٘i)I9x@YnG JJJJJF&K Y \~?yOAaF77790B)iBE[[7@[]\~?[[[[[BZYY i) h:IC?ir *)))*)Ph@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040650.863165 s, next control iter: 1743040651.243181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040651.263165 s.K~,",AJ"J*J2J:J4?BJ4?nJb=5vJA̢@AY.ÿ@AD]~? A:AM&"AAsNA"AZAbAjArAzAAAO~Z*3@AërADx@A2\At=A1@A dAA?AT*Aڿ9?2A"׽:Aj<BAڿ9?JA"׽RAj Y[~?yQOA1@bFŧ7ŧ79)nB[[9@[[~?[9[[[[BZYY i) p?IXC?i`BZ U())U(-i@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040651.283165 s, next control iter: 1743040651.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 141502, header.stamp.nsec: 020 temperature: 13.3848772* salinity: 33.3917202, density: 1025.0000002* values[0]: 0.7049832F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040651.683165 s.lK~,R",AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743040651.683267F (some fields omitted in printout)A(\@Ad@A]~? A6A^&"AAmsNA"AZAbAjArAzAAA$͋?v2@AMٜL1rAMw@A~[As=Ak2@A`Aj?AE*A9?2A5 ׽:A\<BA9?JA5 ׽RA\<٘i)I9w@YG JʟJJJJF&K Y`[~?ywNAcF7791B)sBE[[Mv:@[[~?[[[[[BZYY i)  IdC?i,'b< &))&Bk@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040651.683165 s, next control iter: 1743040652.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743040652.103165 s.K~,#,AJ"J*J2J:JV4?BJV4?nJ=5vJAQ8@AQ+L+@A]~? A2A&"AAЯsNA"AZAbAjArAzAAAl8l̟2@AqrA9w@AwлA=A3@A@:AK?A㝼*A9?2Aֽܿ:A<BA9?JAֽܿRA<٘i)I99w@YxG JΝB=JJJJF&K Y[~?y=NAeF7t93B)yBE[[_;@[ [~?[4ާ[[[[BZYY i) kI)C?i?p  d%))d%l@\ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040652.123165 s, next control iter: 1743040652.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040652.523165 s.K~,{!#,AAHzn@Aa@AYy]~? AT/A&"AAӌsNA"AZAbAjArAzAAA#=VgY2@AW%q-~rAv@A;A=A4@AA?A*Ai9?2AInֽ:A <BAi9?JAInֽRA <٘i)I9v@Y'G J)C=JJJJF&K Yң[~?y*NAfF7ŧ7>94B)~BE[[KS=@[[~?[ܧ[[[[BZYY i) K:IC?i2 #))#0n@YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743040652.543165 s, next control iter: 1743040652.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14151, header.stamp.nsec: 00 temperature: 13.385288* salinity: 33.391727, density: 1025.000000* values[0]: 0.703400F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040652.943165 s.ZdK~,J]<#,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743040652.943307F (some fields omitted in printout)Aq= ף@A@̖@Aa]~? A+A8 &"AAzisNA"AZAbAjArAzAAADDAM2@Ar|r|rA/v@A H<A>{=A#66@A@DA?A^*A9?2A@ֽ:A<BA9?JA@ֽRA<٘i)I9/v@YG JWJJJJF&K Y[~?yݧMAgF7777 95B)BE[[U>@[[~?[ۧ[[[[BZYY i) jwIJC?iڽ( z"))z"o@޾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040652.963165 s, next control iter: 1743040653.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040653.363165 s.K~,y>W#,AA٣@AṬ@A9J]~? A{(A{ &"AAEsNA"AZAbAjArAzAAAx$P1@AP -zzrAKu@A f<A\=A7@ATwA`E?ARx*A)9?2AQֽ:AӴ<BA)9?JAQֽRAӴ YWn[~?yiۧlMA7@iFj7j797B)BE[[*@@[o[~?[٧[[[[BZYY ij) ͚IbC?iO, !))!q@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040653.383165 s, next control iter: 1743040653.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14152&, header.stamp.nsec: 0&0 temperature: 13.385405&* salinity: 33.391739&, density: 1025.000000&* values[0]: 0.702897&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040653.783165 s.WK~,r#,AJ"J*J2J:JBJnJvJA(\@AT@AU2]~? AG%A» &"AA!sNA"AZAbAjArAzAAAy21@A?xrA,u@A <AW=A8@A@HA$?A *A59?2A˘ֽ:Aiv<BA59?JA˘ֽRAiv<٘i)I9,u@Y8G JB=JJJJF&K Y S[~?y٧MAjFb779)B[[IA@[KS[~?[ا[[[[BZYY i) q칻I&C?i2s3 ))r@3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040653.803165 s, next control iter: 1743040654.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040654.203165 s.K~,#,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075936< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743040654.203283F (some fields omitted in printout)AQE@AH8@A<]~? A;"A &"AAerNA"AZAbAjArAzAAA K\91@AvrAt@ATغA89=A.:@AA(??A؉*A49?2Aֽ:AZ<BA49?JAֽRAZ<٘i)I9t@YG J=C=JJJJF&K Y7[~?y֧LAkFŧ7b7i98B)BE[[B@[7[~?[ק[[[[BZYY i) ٻIC?i=P9  )) s@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040654.223165 s, next control iter: 1743040654.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040654.623165 s.XK~,a#,AJ"J*J2J:J3?BJ3?nJi<5vJAGz@A)$m@A]~? AVA3!&"AArNA"AZAbAjArAzAAA^0@AJ{trAzCt@AG1A=A;@A`AW?A*Ac9?2A4,׽:A<BAc9?JA4,׽RA<٘i)I9Ct@YG JJJJJF&K Y[~?yGԧZLAmFj7j7499B)BE[[dD@[[~?[֧[[[[BZYY i) IC?i=m: ))ou@y߷YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040654.643165 s, next control iter: 1743040655.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14153 , header.stamp.nsec: 0 0 temperature: 13.385659 * salinity: 33.391708 , density: 1025.000000 * values[0]: 0.701887 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040655.043165 s.K~,#,AA= ף@AŪA@Av\~? AAj!&"AAʳrNA"AZAbAjArAzAAA.2&0@A>X0!:srA%s@AujA=A<@A@r,A?A#Ӂ*A/9?2A,-׽:A-<BA/9?JA,-׽RA-<٘i)I9s@YgG J'JJJJF&K Y[~?yѧKAnF77779;B)BE[[E@[[~?[k֧[[[[BZYY i) G IuC?i^0>: A))Av@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040655.063165 s, next control iter: 1743040655.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040655.463165 s.J "J *J 2J :J 3?BJ 3?nJ L<5vJ cK~,#,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075936< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743040655.463296F (some fields omitted in printout)Affff@A ]lZ٤@A\~? AA)!&"AArNA"AZAbAjArAzAAAnٳfZ0@Au¦qrA`hs@A'A =A>@ASA@?A*A9?2Aֽ:At=BA9?JAֽRAt=Yw0@>@y# =*M(ٓH u~ſPq?=q9U?>@;?)w0@ I٘i)I9hs@Y%G JJT:JJJF&K!x> YZ~?yeЧKA>@oF79 ; ))Lx@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040655.483165 s, next control iter: 1743040655.863180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14154, header.stamp.nsec: 00 temperature: 13.385866* salinity: 33.391727, density: 1025.000000* values[0]: 0.701030F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040655.883165 s.yK~,D#,AA(@Ac`@A\~? AA2!&"AAirNA"AZAbAjArAzAAAۑ)0@A"v+prAr@AHA^=Ab?@AwAB?A*A9?2A–ֽ:A=BA9?JA–ֽRA=٘i)I9r@YG JJJJJF&K YZ~?yΧFKAqF)7b79>B)BE[[LH@[Z~?[է[[[[BZYY i) ,*IC?iш> /; Ze))Ze[y@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040655.923165 s, next control iter: 1743040656.283180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040656.303165 s.T K~,og$,AJ"J*J2J:JBJnJvJAQ@A `D@A\~? ARA5!&"AAaCrNA"AZAbAjArAzAAAi?/@AwnrA~r@A@<A=A@@AAr?A*A,9?2AIֽ:A=BA,9?JAIֽRA=٘i)I9~r@YG JB=JJJJF&K YZ~?ycͧJArFŧ7_9?B)BE[[ I@[eZ~?[է[[[[BZYY i) =6:IC?i>VU; ))&{@hêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040656.323165 s, next control iter: 1743040656.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14155., header.stamp.nsec: 0.0 temperature: 13.386094.* salinity: 33.391743., density: 1025.000000.* values[0]: 0.700161.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040656.723165 s. K~,H.$,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075936< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743040656.723270F (some fields omitted in printout)Az@A.z@A\~? A5A,("&"AArrNA"AZAbAjArAzAAA h.@AMv~mrAYr@AGi<A^C=A4A@A@"A`\?A5*Aź9?2A4ֽ:A֒ =BAź9?JA4ֽRA֒ =٘i)I9r@YJG JGC=JJJJF&K Y/Z~?y˧JAsF77)9)B[[RK@[YZ~?[%֧[[[[BZYY i) IIC?i >{; 5))5|@}ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040656.743165 s, next control iter: 1743040657.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040657.143165 s.Y/ K~,*I$,AJ"J*J2J:JBJnJvJA ףp@AvKp@Al\~? A@AP"&"AANqNA"AZAbAjArAzAAA]SU.@At LlrAq@A,B<A>=Aϗ; $))$}@8ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040657.163165 s, next control iter: 1743040657.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040657.563165 s. K~, d$,AA3333@A&'@APS\~? AuAt"&"AAqNA"AZAbAjArAzAAA3o@ڻ-@AnVs4krAp@A~X;A=AD@A A/?A *A˶9?2Aֽ:Ai =BA˶9?JAֽRAi =Y^6@D@yv=!Y;ٓHS鱿}c ͱ? ?@.~ k??)^6@ I٘i)I9p@YG JC=J(R<JJJF&Kex> Y-ZZ~?yɧIAD@vF7779AB)BE[[ N@[]Z~?[ק[[[[BZYY i) hIZD?iP?ͦ; ))c@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040657.583165 s, next control iter: 1743040657.963185 s, wait time: 0.380020 s-ZZ~?)ɧtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14156, header.stamp.nsec: 00 temperature: 13.386355* salinity: 33.391720, density: 1025.000000* values[0]: 0.699176F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040657.983165 s. K~,~$,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075936< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743040657.983286F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(@A>x@A9\~? A Ah"&"AAsqNA"AZAbAjArAzAAAW`!-@ApU5jrA}p@AAW=AE@A A?ANP*A9?2A׽:A =BA9?JA׽RA =٘i)I9}p@Y^G JřJJJJF&K Y>Z~?y&ɧkIAwF)7ŧ79BB)BE[[jO@[BZ~?[ק[[[[BZYY i) wID?i? ; U))UXe@@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040658.003165 s, next control iter: 1743040658.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040658.403165 s.&& K~,͙$,AAQ^@AլQ@AC \~? AZ Aд"&"AAŃqNA"AZAbAjArAzAAA[YG,@AU38OirAo@A^AAԗ=ADG@AAB?AH]*A}9?2A7׽:Af =BA}9?JA7׽RAf =٘i)I9o@YG JJJJJF&K Y!Z~?yȧIAyFb77T9CB)ïBE[[P@["(Z~?[ا[[[[BZYY i|) b}ID?i.?; ))@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040658.423165 s, next control iter: 1743040658.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14157", header.stamp.nsec: 0"0 temperature: 13.386595"* salinity: 33.391727", density: 1025.000000"* values[0]: 0.698184"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040658.823165 s., K~,2$,AJ"J*J2J:JBJnJvJAGz@A;p@A\~? A A "&"AA\qNA"AZAbAjArAzAAA7k+@A^5hrAyo@AדUAP=AH@A h3Ad?Am*A9?2A׽:A] =BA9?JA׽RA] =٘i)I9yo@YG JJJJJF&K YZ~?yǧHAzF77{79DB)ȯBE[[R@[ Z~?[٧[[[[BZYY i) I"D?iI0?U; ))ˁ@qӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040658.843165 s, next control iter: 1743040659.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040659.243165 s.3 K~,y$,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085242< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743040659.243295F (some fields omitted in printout)Aףp=ʦ@A(1@A[~? A A"&"AA5qNA"AZAbAjArAzAAAC.N+@AZsgrABn@AQA=AKHACA@֢?A٢*AY9?2Aֽ:A{=BAY9?JAֽRA{=٘i)I9n@YnG JJJJJF&K Y~Y~?yOǧAHA{F7779EB)ͯBE[[mqS@[Y~?[ۧ[[[[BZYY i) ޹I,D?i$C?; =& ))=& |@R֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040659.263165 s, next control iter: 1743040659.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040659.663165 s.: K~,q$,AJ"J*J2J:Jz2?BJz2?nJ&;5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14158, header.stamp.nsec: 00 temperature: 13.386843* salinity: 33.391731, density: 1025.000000* values[0]: 0.697187F (some fields omitted in printout)A@Aa@A[~? AA"&"AAqNA"AZAbAjArAzAAA%P`*@A Y7grAgn@AY;A=A GAQA?A_A*A9?2AxUֽ:A=BA9?JAxUֽRA=Y=@Gy=i;ٓHQ %?Vҳ@J6Dc? ʳ s?`b?)=@ I٘i)I9gn@YG JեJF<JJJF&Kw> YFY~?yǧGAG}F79FB)үBE[[T@[Y~?[ܧ[[[[BZYY i) 4I7D?i.O?x< s ))s !.@y~٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040659.683165 s, next control iter: 1743040660.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040660.083165 s.DA K~, S%,AA)\5@A<(@A*[~? AA#&"AApNA"AZAbAjArAzAAA0' *@AefrA[m@A)!P<A[#=AEA@]Av#?A;#*A9?2A7ֽ:A=BA9?JA7ֽRA=٘i)I9m@YG JTJJJJF&K YY~?yǧlGA~F779BB)ӯB[[V@[οY~?[ާ[[[[BZYY i) ICD?i\?n < a ))a  ߃@ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040660.103165 s, next control iter: 1743040660.483181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040660.503165 s.G K~,@4 %,AJ"J*J2J:JW2?BJW2?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085242< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743040660.503313F (some fields omitted in printout)ARk@AXy^@A?[~? ApAp#&"AApNA"AZAbAjArAzAAA(w)@A~73OfrA?m@Ad<Ai=A{DAfA ?A4*AO9?2A,ֽ:A=BAO9?JA,ֽRA=٘i)I9?m@YeG JYJJJJF&K YٔY~?y'ȧGAFb77J9)دBE[[QsW@[5Y~?[ߧ[[[[BZYY i) )IZPD?il?e<  )) f@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040660.543165 s, next control iter: 1743040660.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14159, header.stamp.nsec: 00 temperature: 13.387121* salinity: 33.391735, density: 1025.000000* values[0]: 0.696113F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040660.923165 s.;N K~,;%,AA{G@AD<@AL[~? AA(#&"AA=BA9?JA%׽RA>=Y/C@e@yت=8ٓH0?I_ЖT?)/C@ I٘i)I9qk@YKG J{C=Jgk<JJJF&Kx> Ys@Y~?yɧEA@F7)79)BzE[[c[@[ZY~?[[[[[BZYY i) GnI{D?i?o6< ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040661.803165 s, next control iter: 1743040662.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040662.183165 s.b K~,R%,AJ"J*J2J:JBJnJvJA(\B@A?35@AV7[~? AsA7#&"AA#pNA"AZAbAjArAzAAAN"'@A?erAoj@AaiAa=A?AsAA*Ah9?2A>׽:Ax=BAh9?JA>׽RAx=٘i)I9j@YG JJJJJF&K Y|$Y~?y˧GEAF7777t9DB)BwE[[ \@[6BY~?[O[[[[BZYY i) ƼID?iz?T?< O))OJ@=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040662.203165 s, next control iter: 1743040662.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040662.603165 s.64i K~,%,AAQx@A_ Dk@AZ[~? AA06#&"AAoNA"AZAbAjArAzAAAxakVd&@AerAA3j@AAJʯ=A=A`pA{Aü*A#9?2Aֽ:A:=BA#9?JAֽRA:=•I٘i)I93j@YG JJJJJF&K YY~?y;̧DAFb77?9)BtE[[]@[)Y~?[[[[[BZYY i)  μID?iH? SI< 5/))5/@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040662.623165 s, next control iter: 1743040663.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14161 , header.stamp.nsec: 0 0 temperature: 13.387678 * salinity: 33.391720 , density: 1025.000000 * values[0]: 0.693801 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040663.023165 s.Zp K~,{%,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085242< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743040663.023283F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@A!A @Ab[~? AA1#&"AA]oNA"AZAbAjArAzAAA"%@A?frA|i@A[AV=AW<A1kAEA̼*A;9?2AGcֽ:As=BA;9?JAGcֽRAs=٘i)I9i@Y#G JǼJJJJF&K YX~?ygͧbDAF77 9)BqE[[_J_@[Y~?[o[[[[BZYY i) \ռIЮD?i?iT< 9))9>@qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040663.043165 s, next control iter: 1743040663.423176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040663.443165 s.7v K~,>]%,AAq= @A2֨@ArZ~? ApA)#&"AAoNA"AZAbAjArAzAAAbS2)%@APfrAh@AX!<Ay=AZ;AHcA@ƪAہԼ*A9?2A ֽ:A!?=BA9?JA ֽRA!?=٘i)I9h@Y G JIмJJJJF&K YX~?yΧCAFŧ7b79)B[[`@[X~?[0[[[[BZYY i) ܼID?is?U`< ))oQ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040663.483165 s, next control iter: 1743040663.843178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14162, header.stamp.nsec: 00 temperature: 13.387991* salinity: 33.391716, density: 1025.000000* values[0]: 0.692548F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040663.863165 s.+} K~,>%,AJ"J*J2J:JJ1?BJJ1?nJ95vJA@A @AZ~? AA#&"AAoNA"AZAbAjArAzAAAy"$@AfrA'h@AVi<Aφ=Aa:A YA`'A`ټ*A9?2Auս:Ap?=BA9?JAuսRAp?=YJ@9y=j<ٓH@??"ĶͿ {Ɉ;?]?)J@ I٘i)I9'h@YK G J ׼B=J8<JJJF&Kw> Y+X~?yЧvCA9Fj7j79)BoE[[a@[TX~?[ [[[[ZZ¸BZYY i¸֬=) ѣмI2D?i?Vh< I))I\@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040663.883165 s, next control iter: 1743040664.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040664.283165 s.8R K~,&,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084394< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743040664.283303F (some fields omitted in printout)A(\O@A^ PB@AZ~? AAu#&"AA^oNA"AZAbAjArAzAAAǮ{#@A q5grALpg@A;<A` =A8A`eLA`Aڼ*A9?2A2ֽ:A/N=BA9?JA2ֽRA/N=٘i)I9pg@Y G JڼC=JJJJF&K YX~?yҧBAF)7ŧ7j9)BlE[[&c@[X~?[0[[[[ZZBZYY i) ļItD?im?0q< '))'Ѩ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040664.303165 s, next control iter: 1743040664.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14163., header.stamp.nsec: 0.0 temperature: 13.388309.* salinity: 33.391712., density: 1025.000000.* values[0]: 0.691217.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040664.703165 s.ֺ K~,-&,AJ"J*J2J:J0?BJ0?nJ95vJAQ@AKx@AZ~? A A"&"AAh7oNA"AZAbAjArAzAAAρwS#@AhjgrAf@A<,;AK=Adg7Al:A¸A*A$9?2Aֽ:AV<BA$9?JAֽRAV<٘i)I9f@Ya G JB=JJJJF&K  9YP~X~? 9yԧBAF{7{759)BiE[[ld@[߳X~?[`[[[[ZZBZYY i)  elevatorAngleAction: 0.084394< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743040665.543309F (some fields omitted in printout)A= ף@A}Ж@AhZ~? AU A"&"AA~nNA"AZAbAjArAzAAAX:"@A'TLirAd@AjAq=AZ4AA`E,A*A59?2A%ֽ:AeU<BA59?JA%ֽRAeU<٘i)I9d@Y^ G JJJJJF&K YyGX~?yاAAFb7b79)BcE[[f@[X~?[[[[[ZZBZYY i) I+E?i5?< #))#R@YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743040665.563165 s, next control iter: 1743040665.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14164, header.stamp.nsec: 00 temperature: 13.388675* salinity: 33.391724, density: 1025.000000* values[0]: 0.689718F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040665.963165 s.| K~,}&,AAffff&@A[@A OZ~? A AƷ"&"AAnNA"AZAbAjArAzAAAc!@A0ke2jrA=Dd@Ay_AS.=Aio3AGA`X¿A8ɼ*A9?2ALֽ:Ahe;BA9?JALֽRAhe;YP@x3yaO.=`_ٓHK+,7?<@)տ@/Y =ȥ@V?)P@ I٘i)I9Dd@Y G JܼB=J6޽JJJF&Kix> Y,X~?yۧWAAx3F77j79)"B`E[[8h@[pX~?[[[[[ZZBZYY i=) ٹIECE?i0?< E))E←y>@tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040665.983165 s, next control iter: 1743040666.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040666.383165 s.إ K~,+&,AJ"J*J2J:J^0?BJ^0?nJ85vJA(\@AyO@A5Z~? AnA"&"AAnNA"AZAbAjArAzAAA x)$ @A1krA6c@A.ȻA>B<A_'2A yA`ÿA~P*A9?2Aֽ:AE&BA9?JAֽRAE&٘i)I9c@Y G J'C=JJJJF&K YX~?yާAAF{7_9)'B[[1}i@[ZX~?[j[[[[ZZBZYY i) I[E?i?wI< ))쿩@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040666.403165 s, next control iter: 1743040666.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14165", header.stamp.nsec: 0"0 temperature: 13.389027"* salinity: 33.391724", density: 1025.000000"* values[0]: 0.688268"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040666.803165 s.zA K~,g&,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074203< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743040666.803326F (some fields omitted in printout)A둪@AWᄪ@AHZ~? A8Adx"&"AAunNA"AZAbAjArAzAAAQM @A> HlrA&c@A;A [[[[ZZBZYY i) )ItE?i?0< 8))8꿩@cYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040666.843165 s, next control iter: 1743040667.203179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040667.223165 s.g K~,H&,AJ"J*J2J:J0?BJ0?nJ85vJAzǪ@AqTn@AZ~? A,AS"&"AAHOnNA"AZAbAjArAzAAAb Pi@A\zmrAb@AF<AQ λA>/A)AԫǿAԮ5*A9?2Asֽ:A6kBA9?JAsֽRA6k٘i)I9b@Y G JbC=JJJJF&K YW~?y@AF7777 9).BZE[[k@[/X~?[+[[[[ZZBZYY i)=) jI E?i'?2< ))翩t!@y=(YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743040667.243165 s, next control iter: 1743040667.623174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743040667.643165 s.vй K~,*&,AA ףp@AoUf@AY~? AHAl,"&"AA')nNA"AZAbAjArAzAAAz9@AnrAb@A Y<AahA=A.A AWɿA˻*A˥9?2Aֽ:A!0BA˥9?JAֽRA!0٘i)I9b@Y G JJJJJF&K YW~?ynm@AF{7 9)/BWE[[ elevatorAngleAction: 0.083576< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743040668.063309F (some fields omitted in printout)A33333@A*&@A Y~? AA"&"AA;nNA"AZAbAjArAzAAAT2 @Aq2&prAslb@A!;AeA,AoA U˿AoǺ*A59?2A}ֽ:AʼBA59?JA}ֽRAʼYW@,ydB;ٓH3?-? ,ۿT? ?"d}?`P?)W@ I٘i)I9lb@Y G JfJT8JJJF&KNw> Y`W~?y-@A,F{79CB)0BTE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #90q/Z^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY im=) C)y\J=94*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040668.083165 s, next control iter: 1743040668.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040668.483165 s.w_ K~,',AA\h@AKp[@A>Y~? AA!&"AAmNA"AZAbAjArAzAAA҆m@Ax﹊qrA@pb@A AAgh6AG+AKA!ͿAvU;*AA9?2A8-ֽ:AcBAA9?JA8-ֽRAc𼙘٘i)I9pb@Y G J:JJJJF&K YÎW~?y@AF77j7U9)QE[[o@[W~?[[[[[BZYY i|~=)  elevatorAngleAction: 0.068112< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743040669.323316F (some fields omitted in printout)AGzԫ@Aooǫ@A%Y~? A^A#n!&"AAՒmNA"AZAbAjArAzAAAz@AsVtrA_b@A66cAzAT*A} A 4bпAD<*Aj:?2A½:A4 BAj:?JA½RA4 ٘i)I9b@Y G J&<JJJJF&K Y[W~?yl#AAF779),BOE[[#3r@[QW~?[$[[[[BZYY i) I+F?i` @< 7Qۿ))7Qۿ;@ys=թ*YA YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040669.343165 s, next control iter: 1743040669.723177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14168&, header.stamp.nsec: 0&0 temperature: 13.389332&* salinity: 33.391689&, density: 1025.000000&* values[0]: 0.687417&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040669.743165 s.W K~,mo',AJ"J*J2J:JBJnJvJAףp= @A1@AnY~? A<"A7!&"AAmmNA"AZAbAjArAzAAAI_b@AxJvrAU9c@AcAA#(A@AFѿA"r<*Ar:?2A%Ž:AvBAr:?JA%ŽRAv٘i)I99c@YJ G JZ<JJJJF&K YAW~?y,PAAFb779))BLE[[2ks@[0W~?[)[[[[BZYY i) 1yIS!F?i@ق< ؿ))ؿג@*YgYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040669.763165 s, next control iter: 1743040670.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040670.163165 s.|} K~,q',AA@@AVJ2@AVY~? A9%A &"AAHmNA"AZAbAjArAzAAA)<@AuH~xrAͥc@A{+ѸA,ˑAV'AA@'ѿAb]<*A s:?2AKȽ:A8BA s:?JAKȽRA8Y]P\@8'y,ˑsѸٓH`m`? i?@\߿v{ ?u5?@o%@@?)]P\@ I٘i)I9c@Y G J<JJJJF&KE> Yf)W~?yAA'F7)79BB)%BIE[[-t@[8W~?[-[[[[BZYY i 8n=) ݻI0AF?i*@< #mֿ))#mֿt@**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040670.183165 s, next control iter: 1743040670.563181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040670.583165 s. K~,S',AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058159< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743040670.583318F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@Azܷh@Aq>Y~? AV(A &"AA-$mNA"AZAbAjArAzAAA@A:VezrAod@A<AxA&A_AcҿA,<*Ap:?2Af˽:ABAp:?JAf˽RA٘i)I9d@Y G J<JJJJF&K YW~?yBAF777J9)!B[[.u@[W~?[2[[[[BZYY i) )HIaF?i@P< #ӿ))#ӿ@i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040670.603165 s, next control iter: 1743040670.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14169, header.stamp.nsec: 00 temperature: 13.389172* salinity: 33.391666, density: 1025.000000* values[0]: 0.688153F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040671.003165 s. K~,j4',AAR@Ay@A&Y~? A+A &"AAlNA"AZAbAjArAzAAA^u@Aw'a|rAd@ALY<A؜A1%AFxA8SӿAɜ<*Aq:?2A0ν:A_ BAq:?JA0νRA_ ٘i)I9d@Y& G J<JJJJF&K YaV~?yKvBAF7)79)BFE[[w@[W~?[p7[[[[BZYY i) I[F?i@}< _ѿ))_ѿ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040671.023165 s, next control iter: 1743040671.403184 s, wait time: 0.380019 s*aV~?)*K rAdjusting time to match Gazebo time: 1743040671.423165 s.u K~,',AJ"J*J2J:JBJnJvJA{G@A;Ԭ@AY~? A.AeE &"AAlNA"AZAbAjArAzAAA3;p@A|pws~rA0e@A+<AA#A HA@*$ԿA_<*Auq:?2AU н:A BAuq:?JAU нRA ٘i)I90e@Y| G J <JJJJF&K YV~?y BAF7779)BCE[[Fx@[mW~?[]<[[[[BZYY i) IХF?iI @)+< c*Ͽ))c*ϿBE@yZn=3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040671.443165 s, next control iter: 1743040671.823177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14170", header.stamp.nsec: 0"0 temperature: 13.388971"* salinity: 33.391651", density: 1025.000000"* values[0]: 0.689135"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040671.843165 s. K~,',AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058159< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743040671.843294F (some fields omitted in printout)Ap= @AН` @A\X~? A2A &"AAlNA"AZAbAjArAzAAA7 wϺ@AOrALe@AC;AzAJ"AUA`4ԿA<*Arq:?2Aѽ:A BArq:?JAѽRA ٘i)I9e@Y G Jʲ<JJJJF&K Y[V~?y :CAF)7b79)BAE[[wy@[\W~?[YA[[[[BZYY i) .FIUF?i%@Y< S̿))S̿ݕ@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040671.863165 s, next control iter: 1743040672.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040672.263165 s.' K~,b(,AJ"J*J2J:JBJnJvJAL@AC?@AX~? A.6Aݻ&"AAwlNA"AZAbAjArAzAAA ᵠ@AY @قrAfbf@AAxAS!A`A@տA9<*Aq:?2Aҽ:A, BAq:?JAҽRA, Yb@J!y wٓH'@f??P@??K} ?)b@ I٘i)I9bf@Y7 G Jֹ<JDKJJJ F&Kfw> YgV~?y+CAJ!Fb7u 9)B[[$z@[eKW~?[~F[[[[BZYY i) 0 IF?i3(@L< 7_ʿ))7_ʿ x@e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040672.303165 s, next control iter: 1743040672.663179 s, wait time: 0.360014 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 141712, header.stamp.nsec: 020 temperature: 13.3887742* salinity: 33.3916442, density: 1025.0000002* values[0]: 0.6903072F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040672.683165 s.l K~,s+(,AA(\@Avu@AX~? A9Ar&"AA^qlNA"AZAbAjArAzAAA-{y@AfX-rAg@ARAA# AA;ֿAJ<*Aq:?2AFӽ:ABAq:?JAFӽRA٘i)I9g@Y G J<JJJJ F&K YtV~?yK DAFSI7SI7?"9AB) B>E[[{@[:W~?[K[[[[BZYY i#=) d՝IjG?i+@\< ǿ))ǿk@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040672.683165 s, next control iter: 1743040673.083180 s, wait time: 0.400015 s rAdjusting time to match Gazebo time: 1743040673.103165 s. K~,F(,AJ"J*J2J:J0?BJ0?nJv95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066963< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743040673.103318F (some fields omitted in printout)AQ@AJ@ALX~? A=A2'&"AANlNA"AZAbAjArAzAAAu@Aw 8rADg@A ?ABAA nA@`p׿AS<*AQr:?2AƾԽ:A KBAQr:?JAƾԽRA K٘i)I9g@Y G J$<B=JJJJ F&K Y~V~?ykuDAF777 $9)B;E[[}@[Q*W~?[P[[[[BZYY i) (ߖI-8G?i/@< ſ))ſک@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040673.123165 s, next control iter: 1743040673.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040673.523165 s. K~,{a(,AAHz@AI @AțX~? A BA&"AAL,lNA"AZAbAjArAzAAA=i @ARHrAn2h@AMRA&ATA 0A ODؿA_ժ<*An:?2Aս:A>BAn:?JAսRA>٘i)I92h@YQ G J<C=JJJJ F&K YkV~?y$DAF7%90B)B8E[[S>~@[kW~?[PV[[[[BZYY i) :$:I^G?i3@-< :ÿ)):ÿ%A@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040673.543165 s, next control iter: 1743040673.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14172, header.stamp.nsec: 00 temperature: 13.388512* salinity: 33.391632, density: 1025.000000* values[0]: 0.691512F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040673.943165 s.Wd K~,>]|(,AJ"J*J2J:J1?BJ1?nJ95vJAq= #@A+4@AX~? AKFAU&"AA] lNA"AZAbAjArAzAAAJBz @A{L}rAh@A;AꅌALA4A #ٿA<*ADk:?2A}ֽ:AzLBADk:?JA}ֽRAzL٘i)I9h@Y G J˥<JJJJF&K YTV~?y)GEAF7'9)B[[j@[ W~?[[[[[[BZYY i) :IG?iz8@5"< o))o?ט@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040673.983165 s, next control iter: 1743040674.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040674.363165 s.% K~,>(,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066963< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743040674.363284F (some fields omitted in printout)AY@AMKL@AoX~? AJA;3&"AAkNA"AZAbAjArAzAAAB={@Asݵ[rA+@i@AH<AAgAA?ٿA泖<*AVg:?2Aֽ:AA&BAVg:?JAֽRAA&Ymi@yp6I<ٓH`! Yr?V~?y/EAF77{7j)9)B5E[[CM@[V~?[9a[[[[BZYY i) ,E#;I̮G?iV;@k< s))s>o@ƻ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040674.383165 s, next control iter: 1743040674.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14173&, header.stamp.nsec: 0&0 temperature: 13.388288&* salinity: 33.391602&, density: 1025.000000&* values[0]: 0.692618&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040674.783165 s.R+ K~,(,AJ"J*J2J:JBJnJvJA(\@ANP@AYX~? A2OAg&"AAkNA"AZAbAjArAzAAA$@ARkwrA~i@ATP<AAwMA@fA``ڿAۡ<*A?c:?2A%׽:ABA?c:?JA%׽RA٘i)I9i@YAG J<JJJJF&K YL*V~?yX5FAF{7Z75+9)B3E[[|@[V~?[f[[[[BZYY i) Ra;IG?i>@< %))%w@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040674.803165 s, next control iter: 1743040675.183175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040675.203165 s.3 K~, (,AAQŮ@AF@ADX~? ASA&"AA,kNA"AZAbAjArAzAAAO$@A:3rA5j@Aw;AiRAJA* A{ۿA@<*A_:?2A׽:AiBA_:?JA׽RAi񼙘٘i)I95j@YG J<JJJJF&K Y%V~?y0;\FAF77-9)߯B[[z@[8V~?[vl[[[[BZYY i) Ʊ;IH?i elevatorAngleAction: 0.066963< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743040675.623276F (some fields omitted in printout)AG@A1]@A/X~? AXA&&"AAkNA"AZAbAjArAzAAA,~VI@A&+rA!j@ALAEAA@A`>ܿA5<*AZ:?2Akֽ:ABAZ:?JAkֽRA٘i)I9j@YG JF<JJJJF&K YV~?yAFAF77.9)گB0E[[@[&V~?[&r[[[[BZYY i5=) @;I/,H?iDF@< w))w2@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040675.643165 s, next control iter: 1743040676.023183 s, wait time: 0.380018 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14174 , header.stamp.nsec: 0 0 temperature: 13.388087 * salinity: 33.391594 , density: 1025.000000 * values[0]: 0.693603 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040676.043165 s.Ш@ K~, ),AA= ף0@A#@AX~? A]A&"AAWgkNA"AZAbAjArAzAAAO ,ۏ@AFrA(k@A5AdbA xAuAܿA1<*AW:?2Aֽ:ABAW:?JAֽRA٘i)I9(k@YG J<JJJJF&K YU~?yFGAF)709/B)֯B,E[[W@[V~?[w[[[[BZYY i) ;IWH?iJ@= #&))#&Rƛ@V*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040676.083165 s, next control iter: 1743040676.443181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743040676.463165 s.UG K~,),AJ"J*J2J:J1?BJ1?nJN:5vJAfffff@Ag\Y@AcX~? AbAf&"AA&HkNA"AZAbAjArAzAAA_ A?Ac9rAMk@A"0XAxA*A`@A`?ݿAR<*A6O:?2Aֽ:ABA6O:?JAֽRAYo@ySXٓH8?N?ˁc@?}?`E?)o@ I٘i)I9k@YhG JV<Je;JJJF&Ky> YU~?yZMnGA EFj7j7`29)үB[[;:@[V~?[}[[[[BZYY i) ;IH?iNM@be= β))β6\@ϳ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040676.483165 s, next control iter: 1743040676.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14175, header.stamp.nsec: 00 temperature: 13.387888* salinity: 33.391586, density: 1025.000000* values[0]: 0.694533F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040676.883165 s.yM K~,<8),AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075786< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743040676.883303F (some fields omitted in printout)A(@A&B@ARW~? AgA%&"AAv)kNA"AZAbAjArAzAAA !ht?AӖ!rA_l@A' A>AA@NA{޿ANK<*AG:?2A%׽:ABAG:?JA%׽RA٘i)I9l@YG J^<JJJJF&K YU~?ySGAFŧ7b7*490B)ϯB*E[[iσ@[V~?[[[[[BZYY i) 6W~? ArA?4&"AAjNA"AZAbAjArAzAAA p ?AbrAl@A<A5A%AKA T߿Ag<*A8:?2A׽:AhBA8:?JA׽RAh٘i)I9l@Y8G J7<JJJJF&K Y[U~?y`xHAF)7b779/B)ȯB'E[[+@[0V~?[[[[[BZYY i) }% elevatorAngleAction: 0.075786< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743040678.143275F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=@Ad0@A@W~? AxA*&"AAjNA"AZAbAjArAzAAA?AfLrAem@A4ZY<AAA@ A2PA=<*A1:?2Aù׽:A/BA1:?JAù׽RA/٘i)I9em@Y|G J׃<JJJJF&K Y:U~?yJgHAF777799)įB$E[[@[iV~?[[[[[BZYY i) 55?A[ǂRrAm@A"<AsA AA,AҊ<*A*:?2A׽:A%BA*:?JA׽RA%Yv@ y4#<ٓHh '?@?Wf u?@R?@Y??)v@ II٘i)I9m@YG JM<J<JJJF&Kx> YTzU~?yYn0IA Fj7j7U;9)B[[@[wV~?[[[[[BZYY i) VD elevatorAngleAction: 0.075786< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743040679.403290F (some fields omitted in printout)AQް@A̷>Ѱ@AW~? AkAz&"AA|jNA"AZAbAjArAzAAA#M(+U?AwdrAun@AoAEA| A"߿A0<*A:?2Aֽ:A BA:?JAֽRA ٘i)I9n@YWG J<JJJJ F&K YXU~?yu|IAF7>9)B[[UC@[bV~?[[[[[BZYY i) "ic elevatorAngleAction: 0.084760< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.420049J"J*J2 time: 1743040680.6633182JF (some fields omitted in printout):JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14179, header.stamp.nsec: 00 temperature: 13.387128* salinity: 33.391506, density: 1025.000000* values[0]: 0.698415F (some fields omitted in printout)A@Ar@APNW~? A›Aq&"AA.jNA"AZAbAjArAzAAAs;8{ֿAErA'dp@AVfrAJ`A2A@ݿA=A<*A :?2AL2׽:AKBA :?JAL2׽RAKY }@ y`sٓH rcs?M?aa )q ?j'? Ln`?) }@ I٘i)I9dp@YNG J1<JYJJJ$F&Kx> Y;(U~?y KA Fŧ7b7KD9)BE[[@[+DV~?[[[[[BZYY i) §W~? AA &"AA(jNA"AZAbAjArAzAAANv@fArAp@A;AAAtܿAnAh9<*A:?2A ׽:A#BA:?JA ׽RA#٘i)I9p@YG Jx<JJJJ%F&K YU~?y{KAF777F9)B[[@[:V~?[V[[[[BZYY i) =3.W~? AA &"AAiNA"AZAbAjArAzAAA4TNW0eAբrAsq@AJ<AA`A`8%ܿAA<*A`9?2AŸ׽:AqBA`9?JAŸ׽RAq٘i)I9sq@YG J<JJJJ&F&K Y; U~?y;KAF7)7G9)BE[[t@[2V~?[Ǩ[[[[BZYY i) a elevatorAngleAction: 0.084760< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743040681.923312F (some fields omitted in printout)A{G!@A`;@AW~? AA=&"AA)iNA"AZAbAjArAzAAA]l~P:AktrA`q@AI<ARrAA]ۿAAݓ<*A|9?2Auz׽:AeBA|9?JAuz׽RAe٘i)I9q@YHG J*<JJJJ(F&K YT~?yɨILAF)7ŧ7I9)B[[@[)V~?[*Ψ[[[[BZYY i) K YET~?yO!MAF{7j7@M9)B[[ʋ@[V~?[ۨ[[[[BZYY i) 7. elevatorAngleAction: 0.084760< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743040683.183267F (some fields omitted in printout)A(\²@A_@AJV~? A*éA&"AAiNA"AZAbAjArAzAAA.A!+4rAs@Am;AڈA\A@ؿA AVe<*A9?2Ayֽ:A=BA9?JAyֽRA=٘i)I9s@Y_G J<JJJJ,F&K YQT~?yGMAF777 O9)B[[Z@[V~?[[[[[BZYY i) ~ elevatorAngleAction: 0.084760< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743040684.443285F (some fields omitted in printout)Aq= c@AcV@AV~? AةA&"AAeiNA"AZAbAjArAzAAA:i*A[ArAeu@A:AAAbֿA A<*A9?2AO)׽:A?BA9?JAO)׽RA?٘i)I9u@YG J<C=JJJJ0F&K YsT~?y0بNAF7kT9)B[[@[&U~?[X[[[[BZYY i) 7+,AJ"J*J2J:JBJnJvJA@AM@AV~? A2ߩA/&"AARiNA"AZAbAjArAzAAA *VAOvrAlv@Aw$<AAAտA@A<*A<9?2Ag׽:A+BA<9?JAg׽RA+Y( @yE@%<ٓH bԿ`%9?@%?տ׵?;?ڎ?`?)( @ I٘i)I9lv@YG J<J.JJJ1F&Kx> Y)T~?y~_OAFj7SI76V9/B)|BE[[@[[U~?[[[[[BZYY i)  elevatorAngleAction: 0.084760< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743040685.703291F (some fields omitted in printout)AQ@Ay@AyV~? AA&"AAc.iNA"AZAbAjArAzAAAXҴA482rAw@A<AŴAA ӿA`CA<*A9?2A׽:A|BA9?JA׽RA|٘i)I9w@YG J <B=JJJJ4F&K YT~?yNPAF777Y91B)sBE[[@[U~?[O [[[[BZYY i) -BZYY i¸>) W/ Yz}T~?yC QAF{7j7+_9-B)]B[[[@[0U~?[Y[[[[ZZZZBZYY i) :5vJvPublished 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: 0.4200272 time: 1743040688.223316F (some fields omitted in printout)AzG@A:@AnV~? AAIx&"AAhNA"AZAbAjArAzAAA2A:͇RsAw|@A;A-A+߿A`e4ͿAKAӏ<*A9?2Aeֽ:A|BA9?JAeֽRA|٘i)I9w|@YG J<JJJJ<F&K YiT~?y#SAF777d9,B)HBE[[@[U~?[1[[[[ZZZZBZYY i) ^5vJA3333@AeI)@A_V~? A*AK &"AAhNA"AZAbAjArAzAAAV7i AH<sA}@Ap}X<A-AٿA ɿA`;A^x<*A9?2Aɒֽ:A5&<BA9?JAɒֽRA5&JJJ?F&Kw> Y_T~?y=5SAٿF77 h9)?BE[[A@[kU~?[?[[[[ZZZZBZYY i۷) J &"AAshNA"AZAbAjArAzAAAH A=ԩ*sAA~@ATTA2=AϿA¿As Ay&*Af9?2Aֽ:A<BAf9?JAֽRA<٘i)I9A~@Y JTB=JJJJDF&K YPT~?y>XSAFb808Ko9)E[[3P@[ U~?[ Z[[[[BZYY i) 6T8JJJEF&Kw> YOT~?y azSA̿Fb77q9+B)E[[ȿ[U~?[`[[[[BZYY iTf)  (V~? AmYA; &"AAhNA"AZAbAjArAzAAApo A94sA}@A %;Ay=AfʿA -A2A0*Ao9?2A6\ֽ:A =BAo9?JA6\ֽRA =٘i)I9}@YG J JJJJGF&K YNT~?yi1SAF7r9)BE[[jĿ[U~?[Ln[[[[BZYY iퟆ) PssA%!}@A0c<AK=A|KſA 19A`SA *A9?2Aֽ:Ar=BA9?JAֽRAr=٘i)I9!}@YG JJJJJIF&K Y7MT~?y|{RAF{7{7vv9)BB[[;¿[U~?[u[[[[BZYY i) P;IiÓ@G#== Wg;))Wg;Wg;yFg?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040692.443165 s, next control iter: 1743040692.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14191, header.stamp.nsec: 00 temperature: 13.567541* salinity: 33.374996, density: 1025.000000* values[0]: 0.580920F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040692.843165 s.L K~,5-,AAp= @AK@A4V~? AwqA|&"AAxhNA"AZAbAjArAzAAA\tbz AeLCsAP|@A<Aݕ=A ¿AMiA_A蚼*A9?2Adֽ:AD<=BA9?JAdֽRAD<=٘i)I9|@YG J˕JJJJKF&K YZLT~?yLVRAFZ7@x9)FB[[ [U~?[{[[[[BZYY i) ;Ii@%h>=  7)) 7 7yΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040692.863165 s, next control iter: 1743040693.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040693.263165 s.T K~, P-,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065735< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743040693.263320F (some fields omitted in printout)A̷@A¿@A2V~? AyAz@&"AAPthNA"AZAbAjArAzAAA As6HsA2|@AhA8A =AA@( AjA&*Aϻ9?2Azֽ:A =BAϻ9?JAzֽRA =Y@y =98ٓH'?C? Iu?t@ 4?-H?#?)@ I٘i)I9|@YrG JpJAS=JJJLF&Kx> Y\NT~?yQAFŧ7ŧ7 z9)JB[[߽[U~?[i[[[[BZYY i) ;Ii֔@G>= [2))[2[2ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040693.303165 s, next control iter: 1743040693.663175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14192., header.stamp.nsec: 0.0 temperature: 13.567807.* salinity: 33.374992., density: 1025.000000.* values[0]: 0.580329.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040693.683165 s.lZ K~,kk-,AA(\@AT@A 1V~? AA2&"AAjqhNA"AZAbAjArAzAAA(K?$ AT_7"MsA*{@A{AК=AGAA~fAqApr*A9?2A׽:A =BA9?JA׽RA =٘i)I9{@YG J-JJJJMF&K Y^PT~?yەQAFZ7SI7{9,B)OBE[[ݰ[U~?[[[[[BZYY i) 6Q;Ii@D>= Q.))Q.Q.ժYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743040693.683165 s, next control iter: 1743040694.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743040694.103165 s.a K~,-,AJ"J*J2J:J{?BJ{?nJ5vJAQ8@A_E+@A/V~? AA&"AASohNA"AZAbAjArAzAAAPd AP0RsA {@AaA=AA@fA%wAm*A9?2AJ)׽:A2F=BA9?JAJ)׽RA2F=٘i)I9 {@YG J JJJJOF&K Y`RT~?y!QAFb77}9)TB[[[LU~?[[[[[BZYY i) 7f;Ii@m?= +)))+)+)֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040694.123165 s, next control iter: 1743040694.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040694.523165 s.g K~,{-,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065735< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743040694.523288F (some fields omitted in printout)AHzn@Ada@Ac/V~? AAh&"AA nhNA"AZAbAjArAzAAAf A[VsA{z@A84AJc=AA=AyA4E*A9?2Aֽ:AfR=BA9?JAֽRAfR=I٘i)I9{z@YsG JDJJJJPF&K YbTT~?ykPAF77k9)XB[['V[U~?[f[[[[BZYY i) );Ii.@;@= s%))s%s%ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040694.543165 s, next control iter: 1743040694.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14193, header.stamp.nsec: 00 temperature: 13.568067* salinity: 33.375011, density: 1025.000000* values[0]: 0.579685F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040694.943165 s.]dn K~,W]-,AJ"J*J2J:JBJnJvJAq= ף@A`͖@A[/V~? A˙A\&"AAmhNA"AZAbAjArAzAAAh}8 A˲![sAy@Aտ"Ai=APA@(|?AzA3}*A{9?2Aֽ:A`z=BA{9?JAֽRA`z=٘i)I9y@YG J>B=JJJJQF&K YdVT~?y4TPAF769)]BE[[i*[8U~?[[[[[BZYY i) :Ii@EA= D!))D!D!ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040694.963165 s, next control iter: 1743040695.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040695.363165 s.u K~,y>-,AAٸ@A -̸@A/V~? AߡA,&"AAmhNA"AZAbAjArAzAAAvJ Ae+`sA8Uy@A^;A=AFA&?A@wA^*A9?2AZֽ:Av=BA9?JAZֽRAv=YQ@[첿y=s;ٓH`? T?lv?\oz?@ }?@?)Q@ I٘i)I9Uy@YG J C=J޹JJJSF&K.x> Y@[T~?yษOA첿Fj7Z79)bB[[[U~?[[[[[BZYY i) C:Ii@%A= k))kkIҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040695.383165 s, next control iter: 1743040695.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14194&, header.stamp.nsec: 0&0 temperature: 13.568349&* salinity: 33.375008&, density: 1025.000000&* values[0]: 0.578998&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040695.783165 s.\{ K~,-,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065735< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743040695.783281F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@Aw~Q@A0V~? AA&"AAnhNA"AZAbAjArAzAAAM[~8 ACXOesA/x@A8Y<AI=ApAץ?A`sAT *AI9?2AnCֽ:AF=BAI9?JAnCֽRAF=٘i)I9x@YeG JJJJJTF&K Y`T~?yOAF77˄9)fB[[а[U~?[4[[[[BZYY i) \[8Ii@AA= ߑ))ߑߑ ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040695.803165 s, next control iter: 1743040696.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040696.203165 s. K~,; .,AAQE@A:8@Ah2V~? AAj&"AAphNA"AZAbAjArAzAAA8ʹ A凔_jsA*x@A G<Aux=AqҭA@E?A{lA*A9?2Alֽ:AB=BA9?JAlֽRAB=٘i)I9*x@Y G JJJJJVF&K YdT~?y7ʩ OAF77779)kB[[k[U~?[İ[[[[BZYY i)  Ii@@A= 8))886˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040696.223165 s, next control iter: 1743040696.603187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743040696.623165 s.J "J *J 2J :J ?BJ ?nJ <5vJ _ K~,~'.,AAGz@A}^m@Az4V~? AA T&"AAshNA"AZAbAjArAzAAA8KHΉ A$׼osAw@A;Aً=A$Ak?A cA*Af9?2Aֽ:A=BAf9?JAֽRA=٘i)I9w@YG JJJJJWF&K YiT~?yҩNAFa9-B)pBE[[x[bU~?[L[[[[BZYY i) \eIi@,B= ;));;7ǪYFFF]q:Waiting for Gazebo time sync: latest Gz time: 1743040696.643165 s, next control iter: 1743040697.023186 s, wait time: 0.380021 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14195 , header.stamp.nsec: 0 0 temperature: 13.568599 * salinity: 33.375008 , density: 1025.000000 * values[0]: 0.578303 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040697.043165 s. K~,B.,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065735< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743040697.043289F (some fields omitted in printout)A= ף@A@A7V~? AªA&"AAwhNA"AZAbAjArAzAAABYC AۄtsA:w@AA؍=ArA Ӵ?A`VA|*A9?2A(׽:A<BA9?JA(׽RA<٘i)I9w@Y`G JVJJJJXF&K YnT~?y۩SNAFŧ7b7+9)tB[[M[MU~?[˽[[[[BZYY i) )@IiT@B= + ))+ + êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040697.063165 s, next control iter: 1743040697.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040697.463165 s.U K~,].,AJ"J*J2J:J?BJ?nJ&5vJAffff@A"[ٹ@A8:V~? AʪA&"AAj{hNA"AZAbAjArAzAAA5< Aù.jysAv@A.MAp=A>ǥAa?ALHA YZvT~?y MA㥿F{7j79.B)yBE[[![U~?[Fĩ[[[[BZYY iY) ~Ii @AB= w3))w3w3ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040697.483165 s, next control iter: 1743040697.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14196, header.stamp.nsec: 00 temperature: 13.568876* salinity: 33.375004, density: 1025.000000* values[0]: 0.577651F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040697.883165 s.y K~,@x.,AA(@A(>@A=V~? AҪA}&"AAhNA"AZAbAjArAzAAA G A_ +L~sAv@AWA=A+A v?A 7AǑ*A9?2A&׽:ADY<BA9?JA&׽RADY<٘i)I9v@YG JfJJJJ[F&K Y~T~?yMAFb779)}B[[[7U~?[ʩ[[[[BZYY i) IIi@uB= /))//ӽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040697.903165 s, next control iter: 1743040698.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040698.303165 s.X K~,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: -0.074878< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743040698.303307F (some fields omitted in printout)AQ@AHD@ABV~? AڪA%"AAuhNA"AZAbAjArAzAAAYGc8 A6\F*sAxu@AA=A2A2?A=#A*A9?2Aֽ:A$<BA9?JAֽRA$<٘i)I9u@Y{G JÐJJJJ\F&K YT~?y:MAF779)BE[[]ɣ[3V~?[&ѩ[[[[BZYY i) 7Ii @TB= ))KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040698.323165 s, next control iter: 1743040698.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14197*, header.stamp.nsec: 0*0 temperature: 13.569104** salinity: 33.375019*, density: 1025.000000** values[0]: 0.577079*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040698.723165 s. K~,H.,AAz@A(z@AFV~? A A-F%"AA*hNA"AZAbAjArAzAAA]}b A!sA"u@AB;A?=A A\?A A֐*A9?2Aֽ:AZ<BA9?JAֽRAZ<٘i)I9"u@Y2G JJJJJ^F&K YYT~?yxLAF77V9)B[[g[ V~?[ש[[[[BZYY i) 'ܻIiN@B= U))UUyH.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040698.743165 s, next control iter: 1743040699.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040699.143165 s.V/ K~,*.,AJ"J*J2J:J?BJ?nJ5vJA ףp@Ad@ALV~? AAG%"AAhNA"AZAbAjArAzAAAjH܏G AҶ0،sAt@A(9<A=A!A}?AA*A9?2A[ֽ:A(=BA9?JA[ֽRA(=٘i)I9t@YGYT~?)x JaJJJJ_F&K YT~?yLAFŧ7b7!9/B)BE[[Kr[3V~?[ݩ[[[[BZYY i) RIi@C= v))v뾩vͼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040699.163165 s, next control iter: 1743040699.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040699.563165 s. K~, .,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074878< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040699.563305F (some fields omitted in printout)A3333@AS'@AQV~? AA%"AAhNA"AZAbAjArAzAAA\쎼 A" 0sAi-t@AT`<A=AA9?A`vA*A9?2Aaֽ:A=BA9?JAaֽRA=Y՛@ۘy=`<ٓH{?`?? z? O@9I ? ?)՛@ I٘i)I9-t@YG JJTJJJ`F&K+x> YgT~?y""LAۘF9)B[[G[7V~?[1[[[[BZYY i)  IiK@B= N))N⾩N⽪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040699.583165 s, next control iter: 1743040699.963183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14198, header.stamp.nsec: 00 temperature: 13.569304* salinity: 33.375008, density: 1025.000000* values[0]: 0.576525F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040699.983165 s. K~,.,AJ"J*J2J:J?BJ?nJ5vJA\(@Ay>@AWV~? AAxw%"AAhNA"AZAbAjArAzAAA$ A''qsAs@AЫ<A=AdSA?AͻA;*As9?2Arֽ:A=BAs9?JArֽRA=٘i)I9s@YRG J7JJJJbF&K YʩT~?ySKAF7790B)BE[[#[ V~?[y[[[[BZYY i) bIi@4B= Lھ))LھLھZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040700.003165 s, next control iter: 1743040700.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040700.403165 s.& K~,/,AAQ^@AiQ@A^V~? AzA%"AA̯hNA"AZAbAjArAzAAARQо΀ A*Z4sA9s@AbOAYi=A|Ag?AxA*A9?2Aֽ:A/b=BA9?JAֽRA/b=٘i)I99s@YG JJJJJcF&K Y.T~?yiKAFb7{791B)B!E[[[I(V~?[[[[[BZYY i) ,Ii@KtB= Ѿ))ѾѾDYFFF]Waiting for Gazebo time sync: latest Gz time: 1743040700.423165 s, next control iter: 1743040700.803177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14199, header.stamp.nsec: 00 temperature: 13.569517* salinity: 33.374996, density: 1025.000000* values[0]: 0.575967F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040700.823165 s. K~,-4/,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074878J"J< massPositionAction: 0.000000*J2J4 buoyancyAction: 0.000500:J dt: 0.420048BJ2 time: 1743040700.823322nJF (some fields omitted in printout)vJAGz@Awo@A fV~? A; AF%"AAjhNA"AZAbAjArAzAAAȒQ*(AbsAhr@AA4=A]AsB?AxA<*Ad9?2A7׽:A=BAd9?JA7׽RA=٘i)I9r@YG JٍJJJJdF&K YT~?y& KAFŧ7ŧ7L9)B[[–[U0V~?[[[[[BZYY i) ;Ii@ B= Ⱦ))ȾȾêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040700.863165 s, next control iter: 1743040701.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040701.243165 s. K~,uO/,AAףp=ʻ@A?T1@AmV~? AA%"AAhNA"AZAbAjArAzAAAJ"Ap M礤sAuKr@A`ALM=A#NA@?ARSAi*A9?2A=׽:AfP=BA9?JA=׽RAfP=٘i)I9Kr@YwG JJJJJfF&K YT~?y.JAF77779)B[[ϖ[8V~?[[[[[BZYY i) =KIiD@rB= ;));;ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040701.263165 s, next control iter: 1743040701.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040701.663165 s. K~,qj/,AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14200, header.stamp.nsec: 00 temperature: 13.569706* salinity: 33.375000, density: 1025.000000* values[0]: 0.575428F (some fields omitted in printout)A@A]@A#vV~? AA%"AAhNA"AZAbAjArAzAAA~IA 7QsAq@A9+A~=AA M?A+A*A9?2A׽:At=BA9?JA׽RAt=٘i)I9q@Y-G JJJJJgF&K YYT~?y7SJAF7792B)B%E[[]k[kAV~?[,[[[[BZYY i) EZIi@tzC= ))ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040701.663165 s, next control iter: 1743040702.063175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743040702.083165 s.D K~, S/,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083774< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743040702.083286F (some fields omitted in printout)A)\5@AF(@A~V~? A2 A%"AAhNA"AZAbAjArAzAAA=BZ]tA^sApSq@AAs=A65A@}W?AAϚ*A9?2AIֽ:Aæ =BA9?JAIֽRAæ =٘i)I9Sq@YG JJJJJhF&K YT~?yG?IAF)7b79)B[[)A[oJV~?[7 [[[[BZYY i) UjIiX@HD= 䮾))䮾䮾l̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040702.103165 s, next control iter: 1743040702.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040702.503165 s. K~,;4/,AJ"J*J2J:JBJnJvJARk@AuRz^@A8V~? A'A%"AAhNA"AZAbAjArAzAAAPAB`sAp@AW<Ab=AñA8?AA۟*A9?2AXֽ:Af=BA9?JAXֽRAf=٘i)I9p@YG J؜JJJJjF&K Y T~?yxGIAF77{7v9)B[[ [SV~?[3[[[[BZYY i) ƜyIi(@RE= v@))v@v@LϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040702.523165 s, next control iter: 1743040702.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14201, header.stamp.nsec: 00 temperature: 13.569891* salinity: 33.375004, density: 1025.000000* values[0]: 0.574884F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040702.923165 s.E K~,/,AA{G@AN+@@AV~? A:/A]%"AAhNA"AZAbAjArAzAAAmb{AY!sAGp@A \<Ad==A&$A?A بAvۤ*A9?2A;ֽ:A=BA9?JA;ֽRA=٘i)I9Gp@Y=G JB=JJJJkF&K YT~?yO=IAF77A93B)B(E[[Y[a]V~?[[[[[BZYY i) oIi&@^F= ))yxҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040702.943165 s, next control iter: 1743040703.323188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743040703.343165 s.< K~,/,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083774< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743040703.343318F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= ׼@AT2ʼ@A@V~? A6A]%"AA iNA"AZAbAjArAzAAA~ 7AXu!sAo@AlC<AΛ=A܄A`?A`*xAr*A>9?2Adֽ:A=BA>9?JAdֽRA=٘i)I9o@YG J:C=JJJJlF&K YT~?yWHAF777 94B)B)E[[ʉ[HgV~?[[[[[BZYY i) .QIiQ@H= ^ ))^ ^ 9֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040703.363165 s, next control iter: 1743040703.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14202&, header.stamp.nsec: 0&0 temperature: 13.570104&* salinity: 33.375019&, density: 1025.000000&* values[0]: 0.574308&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040703.763165 s.c K~,/,AA @A@AV~? A>A<%"AAiNA"AZAbAjArAzAAA\VA^t<&sA.o@A6;A\v=A(}A?A`DAI*AI9?2Aaֽ:A=BAI9?JAaֽRA=YZ@ }yv=+;ٓH}? ? ?`ʮ ?d"`ɳq?`k?)Z@ I٘i)I9.o@YG J&J<JJJnF&K:> Ya U~?y6_vHA} Fb77֦9)B[[[qV~?[ [[[[BZYY i) ˓Ii}@G= Vp))VpVp٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040703.783165 s, next control iter: 1743040704.163183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743040704.183165 s. K~,^ 0,AJ"J*J2J:JBJnJvJA(\B@Awӂ5@A8V~? AIEA%"AA*iNA"AZAbAjArAzAAAdSMA=ArA m?AAC߫*A29?2A89׽:A=BA29?JA89׽RA=٘i)I9n@YG J@JJJJpF&K YT+U~?ymGA F77{7l9)įB[[ S[V~?[?,[[[[BZYY i) Ii^@E= Xv))XvXvYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040704.623165 s, next control iter: 1743040705.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14203 , header.stamp.nsec: 0 0 temperature: 13.570335 * salinity: 33.375023 , density: 1025.000000 * values[0]: 0.573654 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040705.023165 s.Z K~,{A0,AJ"J*J2J:J?BJ?nJ5vJAHz@A!A @AV~? ASAw%"AA NiNA"AZAbAjArAzAAAKPABYsA}m@AoPRA;=AmAl?A A*A9?2A׽:Au=BA9?JA׽RAu=٘i)I9m@YG J-JJJJrF&K Y:U~?yKu7GAF777697B)˯B0E[[u)[5V~?[1[[[[BZYY i) E:Ii@9E= < e))< e< eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040705.043165 s, next control iter: 1743040705.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040705.443165 s.7 K~,>]\0,AAq= @Aֽ@AV~? AZA%"AA`iNA"AZAbAjArAzAAA XDAxQfsAgl@A̻A =AhA ??A@`A׹*Am9?2A{ֽ:A0=BAm9?JA{ֽRA0=٘i)I9l@Y/G JJJJJsF&K YGJU~?y|FAF79)ϯB[[}[V~?[7[[[[BZYY i) Ii@E= PS))PSPSYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040705.463165 s, next control iter: 1743040705.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14204, header.stamp.nsec: 00 temperature: 13.570540* salinity: 33.375011, density: 1025.000000* values[0]: 0.572994F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040705.863165 s.+ K~,>w0,AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083774< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743040705.863295F (some fields omitted in printout)A@A @AV~? AaA%"AAJtiNA"AZAbAjArAzAAA#AsAGl@A@n;Al=A]cA?A#Aü*A-9?2AVֽ:A)O=BA-9?JAVֽRA)O=Y!@Bcyk=o;ٓH? ??o R)?+M󆵿m? ?)!@ I٘i)I9Gl@YG JシJ<JJJtF&Kw> Y\U~?y|YFAcF77j7̯98B)կB3E[[sy[V~?[ =[[[[BZYY i) !Ii@C= `~B))`~B`~BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040705.883165 s, next control iter: 1743040706.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040706.283165 s.6R$ K~,0,AA(\O@Ag\SB@AdV~? AhAy%"AAqiNA"AZAbAjArAzAAAp7AoK;:sAk@Ax><AB=A}^A?AHA%ʼ*A_9?2Ayֽ:A=BA_9?JAyֽRA=٘i)I9k@YhG JƼJJJJvF&K YmU~?yPEAF779)ۯB[[\u[V~?[B[[[[BZYY i) IIi@sB= 21))2121YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040706.303165 s, next control iter: 1743040706.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14205., header.stamp.nsec: 0.0 temperature: 13.570784.* salinity: 33.375053., density: 1025.000000.* values[0]: 0.572301.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040706.703165 s.ֺ* K~,0,AJ"J*J2J:JBJnJvJAQ@ATdx@AaV~? AWoAr%"AAFiNA"AZAbAjArAzAAA/+H>^A%>DsAj@Af]<At=AlYA[?AAμ*A9?2A8 ֽ:A=BA9?JA8 ֽRA=٘i)I9j@YG J̼B=JJJJwF&K YU~?y%rEAF77a99B)B7E[[q[V~?[G[[[[BZYY i) CǼIiw@A= ))GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040706.723165 s, next control iter: 1743040707.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040707.123165 s.>1 K~,z0,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083774< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743040707.123294F (some fields omitted in printout)AGẾ@Aխ@A W~? AvA%"AAƲiNA"AZAbAjArAzAAA2fA\sAjFj@A<A^b=AkTA'u?A&^Aϼ*AՑ9?2Amֽ:A=BAՑ9?JAmֽRA=٘i)I9Fj@YG JϼC=JJJJxF&K YiU~?yDAF7,9:B)B:E[[/l[V~?[QM[[[[BZYY i) ~μIi@ FA= P))PPyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040707.143165 s, next control iter: 1743040707.523183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743040707.543165 s.I8 K~,0,AJ"J*J2J:JBJnJvJA= ף@A!@AW~? A|Azl%"AAiNA"AZAbAjArAzAAAi.A|!gsAZi@A8A=AUNA??A,A μ*A9?2Afֽ:A!X=BA9?JAfֽRA!X=٘i)I9i@Y+G J9ϼJJJJzF&K Y2U~?y͞DAF7779)B[[Wh[V~?[R[[[[BZYY i) (ּIi@@= =))==gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040707.563165 s, next control iter: 1743040707.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14206, header.stamp.nsec: 00 temperature: 13.571043* salinity: 33.375053, density: 1025.000000* values[0]: 0.571543F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040707.963165 s.> K~,0,AAffff&@A|E^@A+W~? A1A%"AAiNA"AZAbAjArAzAAA]yC;Aʀ bsAh@A%AF=ABIA?AA̼*A9?2A׽:AO'=BA9?JA׽RAO'=Y>ݨ@T|Iyᄆ= &ٓHA?ͤ?? \֛? 0`?)>ݨ@ I٘i)I9h@Y G JͼB=J;JJJ{F&K#x> YU~?yDA|IF79;B)B=E[[d[8V~?[W[[[[BZYY i) aݼIi@]?=  ׽)) ׽ ׽VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040707.983165 s, next control iter: 1743040708.363186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743040708.383165 s.E K~,'1,AJ"J*J2J:J8?BJ8?nJR5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083774< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743040708.383285F (some fields omitted in printout)A(\@AWCO@A;W~? AAm%"AAIiNA"AZAbAjArAzAAAdWuDA|ЅMsA`?h@A`AЅ=ACA@?A Aͼ*A=9?2A׽:AF=BA=9?JA׽RAF=٘i)I9?h@YY G J(ͼC=JJJJ|F&K YU~?yBCAF9)B[[__[V~?[\[[[[BZYY i[o) UIi|@a>=  촽)) 촽 촽^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040708.403165 s, next control iter: 1743040708.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14207", header.stamp.nsec: 0&0 temperature: 13.571321&* salinity: 33.375046&, density: 1025.000000&* values[0]: 0.570791&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040708.803165 s.wAL K~,{g31,AA둿@A'"@AKW~? AA,%"AAljNA"AZAbAjArAzAAAN8dKؿA #)sA]g@A%ARE=Ab>A ?A 7AbѼ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9g@Y G J*ϼJJJJ~F&K YU~?y}$CAF77j7W9=B)BAE[[R[[W~?[b[[[[ZZ¸BZYY i¸ =) ҙؼIi@.<= `))``hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040708.823165 s, next control iter: 1743040709.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040709.223165 s.gS K~,HN1,AJ"J*J2J:JBJnJvJAzǿ@A"@Am\W~? A'Av%"AA-(jNA"AZAbAjArAzAAA25ͦ|ǿAyݟsAf@A-.AT=A9AB?A`hAԼ*A 9?2Amֽ:A;=BA 9?JAmֽRA;=٘i)I9f@Y G JҼJJJJF&K YU~?yBAFb77!9>B)BDE[[;V[W~?["g[[[[ZZBZYY i)  ̼Ii@'<= f^))f^f^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040709.243165 s, next control iter: 1743040709.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040709.643165 s.Y K~,,*i1,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082523< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743040709.643306F (some fields omitted in printout)A ףp@AhZbe@A`mW~? ACA5%"AAAjNA"AZAbAjArAzAAA+ݑ?AU~sAf@A+ <Az=A4A@{?AlA*A9?2AOֽ:A`<BA9?JAOֽRA`<٘i)I9f@Y G JJJJJF&K YV~?y6BAF79) B[[?R[!W~?[l[[[[ZZBZYY i) +Ii@;= @v))@v@vtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14208, header.stamp.nsec: 00 temperature: 13.571578* salinity: 33.375065, density: 1025.000000* values[0]: 0.570024F (some fields omitted in printout)y>=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040709.663165 s, next control iter: 1743040710.043183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743040710.063165 s.` K~,[ 1,AJ"J*J2J:JBJnJvJA33333@An,(&@A~W~? ADA܇%"AA{[jNA"AZAbAjArAzAAAEC*~?AASFYsAU;e@A Z<A =Ar/A`ŧ?AGA+Z*A 9?2Aֽ:Aw<BA 9?JAֽRAw YV~?yêAA|/F7779)BGE[[=N[N0W~?[p[[[[ZZBZYY i) xIi%@&9= ))y q=$ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040710.103165 s, next control iter: 1743040710.463181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743040710.483165 s.t_g K~,1,AA\h@Ag[@AoW~? A(A%"AAvjNA"AZAbAjArAzAAA81?AjTtAcd@A#&5<As=A}*A`,?A`+A0*A#9?2A9ֽ:AIq<BA#9?JA9ֽRAIq<٘i)I9cd@Y G JAJJJJF&K Yy2V~?yɪjAAF{7j79?B)BJE[[I[`?W~?[u[[[[ZZBZYY i) qQIi@B8= O))OOaYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040710.503165 s, next control iter: 1743040710.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14209, header.stamp.nsec: 00 temperature: 13.571882* salinity: 33.375057, density: 1025.000000* values[0]: 0.569111F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040710.903165 s.m K~,͹1,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812J"J< rudderAngleAction: -0.261799*J2J> elevatorAngleAction: 0.082523< massPositionAction: 0.000000:J4 buoyancyAction: 0.000500BJ dt: 0.420041nJvJ2 time: 1743040710.903326F (some fields omitted in printout)AQ@A @AW~? AﭫA%"AA'jNA"AZAbAjArAzAAA"?A.]xtAc@A7,;A.=A/0%A+?AAͼ*A9?2AWֽ:AT;BA9?JAWֽRAT;I٘i)I9c@Y G JJJJJF&K YUHV~?yΪAA F7{7L9)"B[[k}E[NW~?[z[[[[ZZBZYY i) Ii@B6= d<))d<d<uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040710.943165 s, next control iter: 1743040711.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040711.323165 s.rt K~,1,AAGz@A[n@AW~? AA1%"AAܬjNA"AZAbAjArAzAAAȉ?AftAc@A$|A<AA?A`HJA;̣*AI9?2ATֽ:ABAI9?JATֽRA٘i)I9c@Y* G JIJJJJF&K Y/^V~?y=Ԫ@A"Fj7j79AB))BOE[[#A[s^W~?[4[[[[ZZBZYY i) Ii@5= <))<<{YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743040711.343165 s, next control iter: 1743040711.723176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14210., header.stamp.nsec: 0.0 temperature: 13.572150.* salinity: 33.375095., density: 1025.000000.* values[0]: 0.568255.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040711.743165 s.W{ K~,1,AJ"J*J2J:JBJnJvJAףp= @A.4@AW~? A&A%"AA#jNA"AZAbAjArAzAAALm?AQ tẢb@AfA %<AOAD0?A g߿A$hs*A69?2AN>ֽ:À!BA69?JAN>ֽRÀ!٘i)I9b@Y G JB=JJJJF&K Y tV~?y٪9@A#F7ŧ79BB)-BRE[[<[pnW~?[σ[[[[ZZBZYY i) .aIiw@\5= @F=))@F=@F=`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040711.763165 s, next control iter: 1743040712.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040712.163165 s.x} K~,q 2,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082523< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199432 time: 1743040712.163277F (some fields omitted in printout)A@@AM2@AW~? AAX%"AAjNA"AZAbAjArAzAAA;?AktAk1b@A\AػAA ?A1߿A$*A9?2A;ֽ:ANBA9?JA;ֽRANY[@@yػ\ٓH?ץ?J_?` ?}?{??)[@ I٘i)I91b@Y G JoRC=JDJJJF&K*w> YV~?yުB@A$F779)0B[[OL8[~W~?[N[[[[ZZBZYY ix=) yIi@3= `=))`=`=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040712.183165 s, next control iter: 1743040712.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040712.583165 s. K~,S%2,AJ"J*J2J:Jf?BJf?nJv5vJA)\u@A elevatorAngleAction: 0.071510< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743040713.423329F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@A;@AX~? A ΫAD%%"AA?kNA"AZAbAjArAzAAA%Rs2@A>KtAa@AfE<A2A&Aq?AܿA9;*A9?2A\ֽ:ABA9?JA\ֽRAἙ٘i)I9a@Y| G JPE:JJJJF&K YV~?yI]@A(F{7{7 9)[E[[+[W~?[a[[[[BZYY i) ZAIib@f.= @W=))@W=@W=y̓=o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040713.443165 s, next control iter: 1743040713.823181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14212, header.stamp.nsec: 00 temperature: 13.572258* salinity: 33.375099, density: 1025.000000* values[0]: 0.567712F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040713.843165 s.ݜ K~,u2,AAp= @A @Au+X~? A ӫA%"AA^kNA"AZAbAjArAzAAAGh%@Aت> tA?b@A8[<AWAoAһ?A]<ܿA`;*AC9?2Aֽ:A BAC9?JAֽRA ٘i)I9b@Y G J;JJJJF&K Y$V~?y'g@A*F779OB)?B\E[[C&[dW~?[[[[[BZYY i) .Ii@-= ` >))` >` >*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040713.863165 s, next control iter: 1743040714.243183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743040714.263165 s. K~J,ؐ2,A"J*J2J:JX?BJX?nJh5vJAL@A^a?@A^@X~? A׫Ad%"AA~kNA"AZAbAjArAzAAA$/!@Ai,x tA>b@AV;AwAA@?A/yۿA%<+<*A_9?2Aֽ:A7BA_9?JAֽRA7Y@yJw;ٓHVK?F?7ݿ@ Z?>ٕ?ݮ?X~??)@ I٘i)I9>b@Y G J/ <JJJJF&Kw> Y-W~?y>@A+F77{79PB)>B_E[[&"[W~?[[[[[BZYY ie=) Ii߅@7[+=  >)) > >#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040714.303165 s, next control iter: 1743040714.663177 s, wait time: 0.360012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 142132, header.stamp.nsec: 020 temperature: 13.5721082* salinity: 33.3751032, density: 1025.0000002* values[0]: 0.5679352F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040714.683165 s.l K~,Z2,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056113< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743040714.683274F (some fields omitted in printout)A(\@A+fu@AUX~? AܫA5%"AAkNA"AZAbAjArAzAAA!ۼ#@AW tAޑb@A4"AJEAA II?A@ڿAd<*A9?2A,ֽ:A} BA9?JA,ֽRA} ٘i)I9b@Y G JE<JJJJF&K Y6W~?yU AA,F777l9)))c->c->*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040714.683165 s, next control iter: 1743040715.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743040715.103165 s. K~,2,AJ"J*J2J:JBJnJvJAQ@A;4,F@AkX~? A AP%"AAPkNA"AZAbAjArAzAAA"-@A2j+#tAxb@A/8Aw\AA`?AٿAp<*A9?2Aս:ABA9?JAսRA٘i)I9b@Y& G J<JJJJF&K Y?5W~?yk_AA.F7779QB)9BeE[[A[W~?[[[[[BZYY i) kIi@'= 7?>))7?>7?>f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040715.143165 s, next control iter: 1743040715.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040715.523165 s. K~,{2,AAHz@A @AX~? AoA W%"AAkNA"AZAbAjArAzAAAh> @A#X&tA|c@AsgA1AbؾA_?A ]!ٿA'"<*A9?2Aiս:A6BA9?JAiսRA6٘i)I9|c@Ys G J<B=JJJJF&K YKNW~?yAA/Fb779)5B[[[ X~?[d[[[[BZYY i-=) ݻIi݁@:&= Q>))Q>Q>ye=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040715.563165 s, next control iter: 1743040715.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14214, header.stamp.nsec: 00 temperature: 13.571818* salinity: 33.375130, density: 1025.000000* values[0]: 0.568424F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040715.943165 s._d K~,_]2,AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065417< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743040715.943297F (some fields omitted in printout)Aq= #@A[@AX~? AAo%"AA\lNA"AZAbAjArAzAAAv,V @AZ'(tAd@A HAŘA;A?AQؿA70<*A 9?2AV>ֽ:A/K BA 9?JAV>ֽRA/K ٘i)I9d@Y G J<C=JJJJF&K YQgW~?yBA0F9)1BhE[[J[X~?[#[[[[BZYY i)  Ii@$= pc>))pc>pc>yK9f=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040715.983165 s, next control iter: 1743040716.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040716.363165 s. K~,>3,AAY@A L@A\X~? AA%"AA"lNA"AZAbAjArAzAAA-t@Au+tAd@A޸A1AuþA`O?A}׿A&<*A9?2A.ֽ:A BA9?JA.ֽRA Yܵ@j¾y1߸ٓH?I?"׿?`?!?q?)ܵ@ I٘i)I9d@Y G Jݩ<B=J' JJJF&Kw> YW~?y lBA¾2F)7)79)-BkE[[ [X/X~?[[[[[BZYY i) ՟Ii~@ŝ"= t>))t>t>y K= *YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743040716.403165 s, next control iter: 1743040716.763185 s, wait time: 0.360020 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14215&, header.stamp.nsec: 0&0 temperature: 13.571457&* salinity: 33.375134&, density: 1025.000000&* values[0]: 0.569150&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040716.783165 s.[ K~,23,AJ"J*J2J:J?BJ?nJ5vJA(\@A=&R@AX~? AAza%"AADlNA"AZAbAjArAzAAAXL@Aꆾ-tAk$e@A=<A䘽A:6A ?A@ֿAɵ<*AU9?2Aֽ:ABAU9?JAֽRA٘i)I9$e@Yu G J<C=JJJJF&K YW~?y% BA3F77j7b9RB))BnE[[^[PBX~?[E[[[[BZYY i) Iiz@y = a>))a>a>J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040716.823165 s, next control iter: 1743040717.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040717.203165 s. K~,M3,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065417< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743040717.203294F (some fields omitted in printout)AQ@AH@AX~? AA5%"AAflNA"AZAbAjArAzAAAȊb@A7D70tAe@A;&g<A AA?AտAȯ<*Ad9?2A׽:AaNBAd9?JA׽RAaN٘i)I9e@Y G Js<JJJJF&K YW~?yj:CA4F777,9SB)%BrE[[[UX~?[[[[[BZYY i) LFIiw@m= H^>))H^>H^>(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040717.223165 s, next control iter: 1743040717.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040717.623165 s.` K~,g3,AJ"J*J2J:J?BJ?nJ5vJAG@AZ@A X~? AJA%"AA|lNA"AZAbAjArAzAAAz:{@Aw2tAG=f@AAZ9<AƖAPAy?AԿAt<*A\9?2Azֽ:AMBA\9?JAzֽRAM٘i)I9=f@Y G J<JJJJF&K Y,W~?yCA6F779)!BuE[[%[iX~?[[[[[BZYY i)  Ii*u@<= g>))g>g>v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040717.663165 s, next control iter: 1743040718.023178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14216, header.stamp.nsec: 00 temperature: 13.571090* salinity: 33.375149, density: 1025.000000* values[0]: 0.569881F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040718.043165 s. K~,Â3,AA= ף0@A #@Ak Y~? AA,%"AAlNA"AZAbAjArAzAAAɖ@A:3p4tAf@Ash);AA:A@4?AԿAo<*A59?2A؉ֽ:ABA59?JA؉ֽRA٘i)I9f@Yv G J\<JJJJF&K Y_W~?yDA7Fŧ7ŧ79)B[[-[|X~?[O[[[[BZYY i) JIir@|= x>))x>x>6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040718.063165 s, next control iter: 1743040718.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040718.463165 s.V K~,褝3,AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065417< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743040718.463287F (some fields omitted in printout)Afffff@Aʦ\Y@A!Y~? A6AlA%"AAQlNA"AZAbAjArAzAAAƼ@Aw06tAYg@A(AA-Ag?A?ӿAʪ<*A9?2ASAֽ:A%FBA9?JASAֽRA%FYQ@x玾yٓH`?#?+ѿ?@?\? ~?)Q@ I٘i)I9Yg@Y G J <B=J;JJJF&Kw> YX~?ybjDA玾8F{7Z79)BxE[[ͪ[X~?[l[[[[BZYY i) ΙIin@= t>))t>t>a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040718.483165 s, next control iter: 1743040718.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14217, header.stamp.nsec: 00 temperature: 13.570734* salinity: 33.375137, density: 1025.000000* values[0]: 0.570620F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040718.883165 s.y K~,<3,AA(@AP@A8Y~? AtA%"AA>lNA"AZAbAjArAzAAA@AM8tAg@A?^AoAYA?A@FbҿAG<*A9?2A*ֽ:ABA9?JA*ֽRA٘i)I9g@Y$ G J<C=JJJJF&K Y X~?yDA:F77{7W9)B{E[[[ԤX~?[rĪ[[[[BZYY i) /:IiLk@!= >))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040718.903165 s, next control iter: 1743040719.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040719.303165 s.P K~,^g3,AJ"J*J2J:JBJnJvJA@A"@APY~? AA%"AA~mNA"AZAbAjArAzAAA$o@A"=:tAuh@AEMAFۍA)uA?A ѿAY<*A9?2ATֽ:ABA9?JATֽRA٘i)I9uh@Yz G J<JJJJF&K Y;X~?y<0EA;Fb77"9TB)B~E[[ؾ[7X~?[`Ǫ[[[[BZYY i) :Ii h@= >))>>[*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040719.323165 s, next control iter: 1743040719.703174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14218., header.stamp.nsec: 0.0 temperature: 13.570332.* salinity: 33.375172., density: 1025.000000.* values[0]: 0.571384.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040719.723165 s. K~, I3,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065417< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201012 time: 1743040719.723354F (some fields omitted in printout)Az@A+@AiY~? A| A%"AA=mNA"AZAbAjArAzAAAWL@A^ XY)) > >ý*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040719.743165 s, next control iter: 1743040720.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040720.143165 s.X/ K~,* 4,AJ"J*J2J:J^?BJ^?nJz5vJA ףp=@AGve0@AY~? AD AO%"AAamNA"AZAbAjArAzAAAEf{zG@A*k> >tA}i@Aַ;AA4 JA?A"hϿA]<*A9?2Aֽ:ARBA9?JAֽRAR٘i)I9}i@YG J<JJJJF&K YrX~?y#EA>F779)BE[[6ƾ[X~?[̪[[[[BZYY i)  'c;Iib@ = >))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040720.163165 s, next control iter: 1743040720.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040720.563165 s. K~,N $4,AA3333s@A'f@A"Y~? AA%"AAmNA"AZAbAjArAzAAAq@A YX~?y$PFA5?F{7{79)B[[[X~?[Ϫ[[[[BZYY ie=) ͽ;Ii]^@P= >))4~>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040720.583165 s, next control iter: 1743040720.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14219, header.stamp.nsec: 00 temperature: 13.569964* salinity: 33.375172, density: 1025.000000* values[0]: 0.572087F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040720.983165 s. K~,>4,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.248248> elevatorAngleAction: 0.075877< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743040720.983295F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@Ak@AY~? A]A%"AAvmNA"AZAbAjArAzAAA㗏I@AXx(AtANmj@Af]<AׅAAn?A`˿A~{<*A9?2A׽:A5BA9?JA׽RA5٘i)I9mj@YG J<JJJJF&K YX~?y2&FA@Fŧ77L9)BE[[[ Y~?[Ҫ[[[[BZYY i) (;IitZ@ = 5&>)) 5&>5&>L*YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743040721.003165 s, next control iter: 1743040721.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040721.403165 s.& K~,Y4,AAQ@A-@AY~? AA%"AA mNA"AZAbAjArAzAAAm@Aи씑BtAPj@AK;AaA A?A@ɿA|L<*AZ9?2Aߘս:A1BAZ9?JAߘսRA1٘i)I9j@YG J<JJJJF&K YX~?y'GABF79)BE[[ê[1"Y~?[aԪ[[[[BZYY i) r;IiV@ = [>))[>[>w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040721.423165 s, next control iter: 1743040721.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14220", header.stamp.nsec: 0"0 temperature: 13.569630"* salinity: 33.375202", density: 1025.000000"* values[0]: 0.572719"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040721.823165 s. K~J,Kt4,A"J*J2J:J?BJ?nJ5vJAGz@A/\s@AY~? AA<%"AAmNA"AZAbAjArAzAAAm[@AD))ݟ>ݟ>yQ=w*Y(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040721.843165 s, next control iter: 1743040722.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040722.243165 s.# K~,q4,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075877< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743040722.243323F (some fields omitted in printout)Aףp=J@A1=@A$Y~? AAye%"AAnNA"AZAbAjArAzAAA Bga.@ABEtAk@ARl=A=A!ȽA?A QƿA<*A#9?2A'Rս:ABA#9?JA'RսRA٘i)I9k@YG JB<C=JJJJF&K Y*X~?y*GADF779)BE[[1[MY~?[ت[[[[BZYY i) ô))5>5>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040722.263165 s, next control iter: 1743040722.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040722.663165 s.* K~,q4,AJ"J*J2J:J?BJ?nJ5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14221, header.stamp.nsec: 00 temperature: 13.569276* salinity: 33.375195, density: 1025.000000* values[0]: 0.573361F (some fields omitted in printout)A@Au:r@AzZ~? AA?%"AAjDnNA"AZAbAjArAzAAAZ#0 @Al|%;FtA ?l@A1fAUɈAA?A`||ĿAZ<*A9?2Aս:AsBA9?JAսRAsY@u yň gٓH`?ٳ?e??z?GЌ?)@ I٘i)I9?l@YG J<J\JJJF&KOu> YUY~?y+HA FF77{7w9)BE[[[cY~?[ڪ[[[[BZYY i) ? elevatorAngleAction: 0.075877< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743040723.503283F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@A%Zx@A}JZ~? AA%"AAnNA"AZAbAjArAzAAAO_Kf!@A<`0HtA-m@A:AA A`?A A2Ì<*A9?2AԽ:ABA9?JAԽRA٘i)I9-m@YZG J<JJJJF&K YQY~?y,HAIF77 9SB)BE[[{x[Y~?[ު[[[[BZYY i) R5 K~,4,AA{G!@AD<@A&dZ~? A>Aj%"AA\nNA"AZAbAjArAzAAA"@A"XItAwm@As"<AA3mA2?A A\<*A%9?2A_ս:AqBA%9?JA_սRAq٘i)I9m@YG Jj<JJJJF&K YmY~?y-*IAJF7779)B[[e[Y~?[3[[[[BZYY i) ODJ@A}Z~? AqA@%"AANnNA"AZAbAjArAzAAAp"@AK`TItAn@A4f<AAZ9;AC?A`Avߎ<*Aw9?2Aս:A9BAw9?JAսRA9٘i)I9n@YG J*<JJJJF&K YY~?y;.IAKFZ7SI79)BE[[S[LY~?[[[[[BZYY i) hT@)< dK?))dK?dK?>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040724.363165 s, next control iter: 1743040724.743174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14223*, header.stamp.nsec: 0*0 temperature: 13.568593** salinity: 33.375240*, density: 1025.000000** values[0]: 0.574648*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040724.763165 s.5K K~,05,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075877< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743040724.763327F (some fields omitted in printout)Ǎ@ASy;@AZ~? A| A7%"AA^oNA"AZAbAjArAzAAAk:#@AZcbJtA n@A/0<AXA<AR?Ae9Aɔ<*A9?2Aս:AӎBA9?JAսRAӎYE@|?@ ;t ?? ?i? ?)E@ I٘i)I9n@Y4G J8<JB\JJJF&Kt>  9Y=Y~? 9y.IA|<MF77m9)ޯBE[[g@[Y~?[)[[[[BZYY i) c elevatorAngleAction: 0.084912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743040726.023291F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.@AV!@A~Z~? A"A%"AA |oNA"AZAbAjArAzAAA0=0%@A/KtA'p@AxaAWAӠ=At?A@dA_<*A9?2Aӽ:ABA9?JAӽRA٘i)I9'p@Y*G Jܧ<JJJJF&K YY~?yf-KAQF77{79RB)ѯBE[[ [&Z~?[[[[[BZYY i) +]5,AAq= c@A5V@AZ~? A#A|y%"AAoNA"AZAbAjArAzAAA%@A?KtAGp@ALHAp͛A=ABz?A`.>Ap<*A#9?2AoXԽ:A|BA#9?JAoXԽRA|I٘i)I9p@YG J<JJJJF&K Y*Z~?y1-xKARF7779)̯BE[[[0Z~?[[[[[BZYY i) F5,AJ"J*J2J:Jx?BJx?nJ5vJA@AHڍ@A[~? AE#As%"AAoNA"AZAbAjArAzAAA(M&@A ALtAFq@AFA,ʝAu=A``}?A~NA{<*Ae9?2AFս:AvBAe9?JAFսRAvYU@/#=yɝرٓHc?`8zew??Pju@;?`܈q`?)U@ I٘i)I9Fq@YG J <J4JJJF&Ks> Y-3Z~?y,KA#=SF77b 9)ǯBE[[½[GZ~?[P[[[[BZYY i) × elevatorAngleAction: 0.084912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743040727.283312F (some fields omitted in printout)A(\@AR@A3[~? AX#Ao%"AAdoNA"AZAbAjArAzAAA &@A^R!LtAq@A;A49A2>A}?A*R?Av<*An9?2Afս:ABAn9?JAfսRA٘i)I9q@Y/G J<JJJJF&K Y2OZ~?y+LLAUF7- 9)ïB[[f[o_Z~?[[[[[BZYY i) J@A~?A`%?A<*A'9?2A.Խ:AEBA'9?JA.ԽRAE٘i)I9br@YG JC<B=JJJJF&K YKtAur@AX<A|A<>Az?A֟?Aۯ<*A9?2AO(Խ:A BA9?JAO(ԽRA ٘i)I9r@YG J֬<C=JJJJF&K Y9Z~?y( MAWF7{79)BE[[l[Z~?[[[[[BZYY i) 9 elevatorAngleAction: 0.084912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743040728.543282F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@Ac@A[~? A"Ay%"AAhpNA"AZAbAjArAzAAA J(@AKtAs@AU;A)AFuP>A`t?A2?A<*A9?2AHԽ:Ak.BA9?JAHԽRAk.٘i)I9s@Y9G JN<JJJJF&K YA@k?Aః?AG<*A9?2A_Խ:ABA9?JA_ԽRAY`;Qd>y諽sٓH`?I̿O$ W:?`5?v?[n?)`; I٘i)I9(t@YG J:<B=JqJJJF&Kr> Y¾Z~?y%MAd>ZFb77X9)BE[[^[Z~?[[[[[BZYY i) lDA4+AAx>A_?A?A~<*A9?2AԽ:AyjBA9?JAԽRAyj٘i)I9t@YG J<C=JJJJF&K YDZ~?y#pNA[Fŧ77"9OB)BE[[)v<[Z~?[[[[[BZYY i) SO elevatorAngleAction: 0.084912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743040729.803334F (some fields omitted in printout)A@AG@Al[~? A` Au%"AApNA"AZAbAjArAzAAAt~.*@Aa@(QJtAyu@AsDdA诽A%>A@T?A'޶?A<*A:?2Abҽ:ACJBA:?JAbҽRACJ٘i)I9yu@YgG J}<JJJJF&K YZ~?y!NA]Fb779)BE[[=[Z~?[[[[[BZYY i) 9+@AR"ܫItA(v@A3$ Ar@AT>A!E?A?Ao<*A:?2Aoҽ:AEBA:?JAoҽRAE٘i)I9(v@YG J<JJJJF&K YK[~?yWOA^F79)BùE[[g=[g[~?[x[[[[BZYY i) A3?A)?A<*A3:?2A/ӽ:A$BA3:?JA/ӽRA$٘i)I9v@Y<G J`<JJJJF&K Y,[~?yOA_F77{79)B[[x=[[~?[[[[[BZYY i) $3 elevatorAngleAction: 0.084912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743040731.063296F (some fields omitted in printout)A3333@Ab('@A\~? AAo%"AASqNA"AZAbAjArAzAAA@- q,@AQHtAw@A*<A0Ak>AC?A?AD2<*A9?2AsԽ:A+-BA9?JAsԽRA+-Y=$>y*<ٓH;?WWԿ4j5?@V?Ej?@??)= I٘i)I9w@YG J<JJJJF&KNr> YG[~?y>CPA$>aFj7M9NB)BƹE[[=[7[~?[Q[[[[BZYY i) e6\~? A3A%"AAzqNA"AZAbAjArAzAAA 2 -@A6a,(GtA4x@A|e<AKɴA(>A ?A?A<*A9?2Aeս:A}BA9?JAeսRA}٘i)I94x@YG J<B=JJJJF&K YRb[~?ytPAbF779MB)BɹE[[zK=[JP[~?[[[[[ZZZZ¸>BZYY i¸>E) _^A@?A/?A<*A::?2A&(ӽ:AwBA::?JA&(ӽRAw٘i)I9x@Y|G J <C=JJJJF&K Y}[~?y4QAcF77{79)B̹E[[] >[h[~?[[[[[ZZZZBZYY i) AZA?Akw?Ai=*A1+:?2Aҽ:A7BA1+:?JAҽRA7٘i)I9y@YG J<JJJJF&K YЗ[~?yQAeFZ7SI7 9LB)BϹE[[=1>[F[~?[v[[[[ZZZZBZYY i) TA@?A2?A~=*A5:?2AY ӽ:AqABA5:?JAY ӽRAqA٘i)I9z@Y~G J=JJJWFJF&K Y[~?y%RAfFb7b7x"9KB)wBҹE[[n1>[[~?[2[[[[ZZZZBZYY i) Ng{@AZAsAc>Ag?A?Aٳ<*A`;:?2Aӽ:A\pBA`;:?JAӽRA\pY5O>>yas>[ٓH%?@_"ڿO #?5?Έrq?@=[@?)5O> I٘i)I9g{@YG J=Ji=JJJF&K(q> Y][~?y} wRA>gF777C$9IB)nBѹE[[EyE>[@[~?[[[[[ZZZZBZYY i) `A`9t?A@?AG<*A =:?2AqԽ:A}ͻBA =:?JAqԽRA}ͻ٘i)I9+|@YzG J<JJJJF&K Y&[~?yRAiF{7{7 &9HB)gBԹE[[mY>[[~?[:[[[[ZZZZBZYY i) \њAQ?A?A><*Aw_:?2Awҽ:AQ;BAw_:?JAwҽRAQ;٘i)I9|@YG J5<JJJJF&K Y[~?yGSAjFj7Z7'9GB)aB׹E[[n>[=[~?[~ߪ[[[[ZZZZBZYY i) A .?ALc?Ax<*Atd:?2Apҽ:A,#<BAtd:?JApҽRA,#<٘i)I9N}@Y,G J<JJJJF&K Y\~?ymSAkF77)9)\BڹE[[P>[[~?[ݪ[[[[ZZZZBZYY i) SA Z?A@?A9"<*AZ:?2Aӽ:A<BAZ:?JAӽRA<٘i)I9}@YbG JT<JJJJF&K Y3\~?ySAmF{7j7m+9FB)YBݹE[[o>[\~?[۪[[[[ZZZZBZYY i) )r/?y̲<^[<ٓH`n?߿5?@?@?ăI@Yo?@P?).> I٘i)I9}@YG J<JEF>JJJF&Kp> YL\~?ySA/?nF778-9)WB[[>[,\~?[T٪[[[[ZZZZBZYY ifo) &`:?2ApԽ:A<BA>:?JApԽRA<٘i)I9}@YG JW;JJJJF&K Yd\~?yKSAoF/9EB)UBE[[;>[(E\~?[֪[[[[BZYY iǍ) !N[]\~?[hԪ[[[[BZYY i) <[u\~?[Ѫ[[[[BZYY i) g*A6%"AA.asNA"AZAbAjArAzAAAͩjO2@A]m2tA}@A\A}f|=A?A?A?Ag/*AT:?2Aӽ:AE=BAT:?JAӽRAE=٘i)I9}@YPG JkJJJJF&K YT\~?y!(SAsF7c49)TB[[K>[`\~?[Ϊ[[[[BZYY i) W8,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069229< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743040737.363292F (some fields omitted in printout)A@Ay@AB]~? AA%"AAsNA"AZAbAjArAzAAA^2@A9]k20tA6}@AAuY=A/?A}?A?Ae*AM:?2AbԽ:A =BAM:?JAbԽRA =Y,>1?yyX=>^ٓH@2?1?? ?@-?`Gy~?),> I٘i)I96}@YG J?HJ=JJJF&Kr> YS\~?yRA?uF77-69?B)VBE[[w,>[@\~?[˪[[[[BZYY ig) =92@Agw--tAy|@AC,;A=AG#?A`?A,?A*ANH:?2AԽ:A=BANH:?JAԽRA=٘i)I9|@YG J|JJJJF&K YT\~?yݪnRAvF777779>B)XBE[[{>[(\~?[Ȫ[[[[BZYY i) $-;Ii!c?h]< L?))L?L?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040737.803165 s, next control iter: 1743040738.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040738.203165 s.#K~,&8,AAQE@AF~8@A]~? AA Y%"AAsNA"AZAbAjArAzAAA$^!3@A*2y+tAM|@A9<Aڙ=AL(?A s?A\?AV*Ak:?2Aҽ:AF=BAk:?JAҽRAF=٘i)I9M|@YG JJJJJF&K YS\~?yتRAwF{7{799=B)[BE[[T>[ \~?[2Ū[[[[BZYY i) 0;IiR?< ]?)) ]?]?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040738.223165 s, next control iter: 1743040738.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040738.623165 s.`)K~,8,AJ"J*J2J:JN?BJN?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056598< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743040738.623296F (some fields omitted in printout)AGz@Am@A]~? AAC%"AAsNA"AZAbAjArAzAAA?`e3@A(tA{@A9@g<AƉ=A4-?A:?A@&?A*Aw:?2A*ҽ:Av,=BAw:?JA*ҽRAv,=٘i)I9{@Y8G JJJJJF&K YR ]~?yӪQAyFj7;9)_B[[>[\~?[[[[[BZYY i) a3;IiC?X; ! ?))! ?! ?yhiתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040738.643165 s, next control iter: 1743040739.023187 s, wait time: 0.380022 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14237 , header.stamp.nsec: 0 0 temperature: 13.563968 * salinity: 33.375450 , density: 1025.000000 * values[0]: 0.583228 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040739.043165 s.0K~,8,AA= ף@AI @A]~? AA"%"AAtNA"AZAbAjArAzAAA.}@3@AHg&tA,({@A<A=A 2?AX?A~?A*Aj{:?2Aӽ:A =BAj{:?JAӽRA =٘i)I9({@YG J}JJJJF&K YQ!]~?yΪXQAzFj7SI7X=99B)`BE[['>[]~?[潪[[[[BZYY i]φ) i4;Ii6?8; ?))??תYSYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040739.063165 s, next control iter: 1743040739.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040739.463165 s.\7K~,8,AJ"J*J2J:JBJnJvJAffff@A[[@A]~? A2AK%"AA0tNA"AZAbAjArAzAAA 3@A*Or#tA܏z@AdAƚ=Ai8?A?A?A*A}:?2AԽ:A=BA}:?JAԽRA=Y>8?yƚ=ٓH@?E?@??~?T̴?)> I٘i)I9z@YG JLJt<JJJF&Kr> Y6]~?yȪPA8?{F{7{7#?98B)dBE[[w>[]~?[ [[[[BZYY i) .n;IiA#?; e?))Zse?e?(ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040739.483165 s, next control iter: 1743040739.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14238, header.stamp.nsec: 00 temperature: 13.564121* salinity: 33.375450, density: 1025.000000* values[0]: 0.582621F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040739.883165 s.y=K~,D8,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237648@ elevatorAngleAction: -0.065825< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040739.883297F (some fields omitted in printout)A(@Aq6@A^~? AܫA%"AAQtNA"AZAbAjArAzAAAl-4@Ao!tANy@AϸA4=AJ}=?A`y?A^~? AOӫAV%"AAƒtNA"AZAbAjArAzAAA4@A3{EtAx@Ad&9A!^=AG?AP?A?A˥*A:?2AzԽ:AB<BA:?JAzԽRAB<٘i)I9x@YyG JꦼJJJJF&K YKv]~?y]OAFŧ7b7D92B)kBE[[?[b]~?[`[[[[BZYY i) Se:Ii>?; ׇ?))ׇ?ׇ?y̆ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040740.743165 s, next control iter: 1743040741.123177 s, wait time: 0.380012 s"Kv]~?)"] rAdjusting time to match Gazebo time: 1743040741.143165 s.J [/RK~"J*J,*I9,A2J:J?BJ?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: 0.4199552 time: 1743040741.143276F (some fields omitted in printout)A ףp@A0e@AS^~? AjΫA%"AAtNA"AZAbAjArAzAAAe*4@A>_&ItATx@A"A| =AҍL?A ?A?A+z*AT:?2AjaԽ:A<BAT:?JAjaԽRA<٘i)I9Tx@Y$G JJJJJF&K Y]~?yPOAF77{7MF9)pB[[?[x]~?[ɨ[[[[BZYY i) /Ii%>J; G?))G?G?ǪY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040741.163165 s, next control iter: 1743040741.543181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040741.563165 s.XK~,J d9,AA3333@AL{)@Ag^~? AfɫA7%"AAtNA"AZAbAjArAzAAAL,5@AU9tAw@A#;A=ApQ?AX^?A?AM*Aі:?2AԽ:A=BAі:?JAԽRA=Y?RQ?y=;ٓH?W]`!2? Q?/?)\?@ѱ>?`?)? I٘i)I9w@YG J^JfJJJF&Ks> YӞ]~?y"NAQ?F7b7H9.B)E[[?[1]~?[[[[[BZYY i) Ii>bU; ?))u??ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040741.603165 s, next control iter: 1743040741.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14240, header.stamp.nsec: 00 temperature: 13.564436* salinity: 33.375473, density: 1025.000000* values[0]: 0.581435F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040741.983165 s._K~,~9,AJ"J*J2J:JBJnJvJA\(@A˄_@A{^~? ABīA@x%"AAtNA"AZAbAjArAzAAA$iZi5@A˩tA?w@Az`<A8=AV?AE?AbD?A#*A:?2AVս:A=BA:?JAVսRA=٘i)I9?w@Y{G JJJJJF&K Y]~?yNAFZ7SI7I9-B)sBE[[p ?[V]~?[3[[[[BZYY i) 2IiR>J_); P?))yP?P?0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040742.023165 s, next control iter: 1743040742.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040742.403165 s.&fK~,͙9,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260690@ elevatorAngleAction: -0.065825< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743040742.403303F (some fields omitted in printout)AQ^@AQ@A^~? AA%"AABuNA"AZAbAjArAzAAAז5@A}j2tAKv@AX]M<A;ˉ=A[?A?A@s?AM *AT:?2Aӽ:An<BAT:?JAӽRAn<٘i)I9v@Y)G JJJJJF&K Ye]~?yD1NAF77j7K9)wB[[s%?[R]~?[[[[[BZYY i) I;IiJ>; ?)) ??$YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040742.423165 s, next control iter: 1743040742.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14241", header.stamp.nsec: 0"0 temperature: 13.564585"* salinity: 33.375492", density: 1025.000000"* values[0]: 0.580851"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040742.823165 s.lK~,)9,AJ"J*J2J:JBJnJvJAGz@Abm@A:^~? AAE%"AA"-uNA"AZAbAjArAzAAA]5@AڵP tAD6v@A,;A=Ae`?Ays?A C?Ah*AϪ:?2AԽ:Aa<BAϪ:?JAԽRAa<I٘i)I96v@YG JʚJJJJF&K Y]~?y֗MAF7b7xM9,B)zBE[[+?[]~?[۔[[[[BZYY i) xxIi >@: eP?))eP?eP?ۺYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040742.863165 s, next control iter: 1743040743.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040743.243165 s.sK~,i9,AAףp=@A*3@Ag^~? AA,%"AA|JuNA"AZAbAjArAzAAAZ6@AJH5tAu@AA%݅=AXKf?A !?AU4?Ai*A`:?2AXս:A}<BA`:?JAXսRA}<٘i)I9u@YG JǒJJJJF&K Y]~?yfqMAF7S7CO9)~B[[01?[]~?[h[[[[BZYY i) -Ii=: ?))??oYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040743.283165 s, next control iter: 1743040743.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040743.663165 s.zK~,q9,AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074587< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743040743.663313F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14242, header.stamp.nsec: 00 temperature: 13.564733* salinity: 33.375492, density: 1025.000000* values[0]: 0.580314F (some fields omitted in printout)A@Ad@A7^~? AsA%"AALguNA"AZAbAjArAzAAAjiS6@Ab?;tAEu@ASA㰄=Ak?A?A?AG*A:?2Aֽ:A`<BA:?JAֽRA`JJJF&Kt> Y]~?yeMAek?F77Q9'B)}BE[[ 6?[]~?[މ[[[[BZYY i) *yIi< 9 t?))Nyt?t?ɶYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040743.683165 s, next control iter: 1743040744.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040744.083165 s.DK~, S:,AA)\5@A`(@A^~? AAՋ%"AAuNA"AZAbAjArAzAAA;ҋ6@AfPCtA@t@A \Av=Ap?A v?A@?A*Ak:?2A`ֽ:A{<BAk:?JA`ֽRA{<٘i)I9t@YG J논JJJJF&K Y<^~?ycLAF77R9(B)B[[_ YeP^~?yfWKA?Fb7Z9!B)B E[[)S?[[`^~?[uk[[[[BZYY i) U+II?i 0) I?))H|I?I?uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040745.783165 s, next control iter: 1743040746.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040746.183165 s.ˢK~,x:,AJ"J*J2J:J@?BJ@?nJs5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.246371@ elevatorAngleAction: -0.074587< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199472 time: 1743040746.183276F (some fields omitted in printout)A(\B@AE.85@A2_~? APAl%"AA,vNA"AZAbAjArAzAAA\%ܑ7@AHisAьr@A/<A>=A"?Aa?An?A6*Aރ:?2A\)ֽ:A=BAރ:?JA\)ֽRA=٘i)I9r@YG JQJJJJF&K Y+_^~?y[_JAF77[9)B[[EX?[Us^~?[d[[[[BZYY i) R:IsI?iy>Q ?)) ??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040746.203165 s, next control iter: 1743040746.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040746.603165 s.<4K~,Ú:,AAQx@A]Ek@A*B_~? A샫A)S%"AA vNA"AZAbAjArAzAAA{7@An1sA+r@A8A&*=A>ˇ?A?A ?A;+*A\:?2Amս:A=BA\:?JAmսRA=٘i)I9r@YUG JѐJJJJF&K Ym^~?yWJAFj7Z7]9)B[[^?[^~?[-^[[[[BZYY i) eQJIPH?ift XZ?))XZ?XZ?êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040746.623165 s, next control iter: 1743040747.003181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14245 , header.stamp.nsec: 0 0 temperature: 13.565125 * salinity: 33.375519 , density: 1025.000000 * values[0]: 0.578880 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040747.023165 s.ZK~,{:,AJ"J*J2J:JBJnJvJAHz@A@AQ_~? An}A%"AA8vNA"AZAbAjArAzAAAZG 7@A,ւsANq@A%A&H=A=o?A?A@P?AJ*Aވ:?2A\ֽ:A7=BAވ:?JA\ֽRA7=٘i)I9q@Y G JJJJJF&K Y|^~?yXP@JAFb77c_9 B)BE[[ d?[E^~?[CW[[[[BZYY i1?))>1?>1?pƪY-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040747.063165 s, next control iter: 1743040747.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040747.443165 s.8öK~,B]:,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083664< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200692 time: 1743040747.443337F (some fields omitted in printout)Aq= @AB@A a_~? AvAP%"AA`PvNA"AZAbAjArAzAAA_`6 8@AjsA q@A&gA=A?Ac?A[K?A*A:?2Ajֽ:A=BA:?JAjֽRA=٘i)I9 q@YG JJJJJF&K Y^~?yHIAFŧ7b7.a9B)E[[Yj?[%^~?[.P[[[[BZYY i) OiI9H?i꾉L ?))??ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040747.483165 s, next control iter: 1743040747.843178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14246, header.stamp.nsec: 00 temperature: 13.565269* salinity: 33.375546, density: 1025.000000* values[0]: 0.578339F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040747.863165 s.+K~,>:,AJ"J*J2J:JBJnJvJA@A @Ao_~? A)pA%"AA(gvNA"AZAbAjArAzAAA M8@Aa$sAmp@AJ/A@=A?AFI?A?AM\*A,t:?2Aֽ:AM =BA,t:?JAֽRAM =Y6f?臏?y>=00ٓH@?7y?`̾??? ?)6f? I٘i)I9p@YvG JJCN<JJJF&KTv> Yŗ^~?y@IA?F77b9B)BE[[&p?[X^~?[ I[[[[BZYY i) xIH?i& d?))d?d?&ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040747.883165 s, next control iter: 1743040748.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040748.283165 s.6RK~,;,AA(\O@AQۆQB@A2~_~? AciAս:A=BAm:?JA>սRA=٘i)I9o@YG J٠B=JJJJF&K YP^~?y 1HAF)7ŧ7f9B)BE[[ {?[^~?[7:[[[[BZYY i)  wIYH?ih!Tλ ?))??b֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040748.723165 s, next control iter: 1743040749.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040749.123165 s.3K~,LG;,AAG@Ayv֭@A_~? A[A`%"AAvNA"AZAbAjArAzAAA_8@A971sAo@AWd<A =A'?A ?AN?AE*APb:?2Ajս:A =BAPb:?JAjսRA =٘i)I9o@YG JhC=JJJJF&K Y^~?y)RHAFZ7Z7Yh9B)BE[[?[|^~?[2[[[[BZYY i) ZIH?i*,_ܻ +u?))+u?+u?ڪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040749.143165 s, next control iter: 1743040749.523175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040749.543165 s.IK~,b;,AJ"J*J2J:J?BJ?nJ5vJA= ף@A\o@A_~? ATA+%"AAvNA"AZAbAjArAzAAAh?P 8@Ay.sA|n@AH<A=AEę?AL?A`?A*AIX:?2Aս:AWW=BAIX:?JAսRAWW=٘i)I9|n@Y&G JuJJJJF&K Y^~?y/!GAFb77#j9)B[[u?[^~?[*[[[[BZYY i)  I^H?i4 `?))`?`?{ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040749.563165 s, next control iter: 1743040749.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14248, header.stamp.nsec: 00 temperature: 13.565604* salinity: 33.375565, density: 1025.000000* values[0]: 0.577229F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040749.963165 s.~K~, };,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083664< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743040749.963298F (some fields omitted in printout)Affff&@AA,_@A%_~? AvMAs%"AAvNA"AZAbAjArAzAAA a39@Af٢sAm@AOɈ;A==A4u?A6?A?Aen*AmN:?2Auֽ:At=BAmN:?JAuֽRAt=Ys?8?yތ=:;ٓHD???m??񋴿&q? ?)s? I٘i)I9m@YG JJ<JJJF&Kw> Y{^~?yGA?Fb7k9B)BE[[|چ?[ _~?["[[[[BZYY i) IκH?i\D=W  Y^~?yMOEA?F77t9 B)BE[[?[\L_~?[`[[[[BZYY i) ƼI|H?iL|x! R?))R?R?UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040752.083165 s, next control iter: 1743040752.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040752.483165 s.~_K~,<,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083664< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743040752.483282F (some fields omitted in printout)A\h@A[@Ae_~? AV!A0%"AAJ4wNA"AZAbAjArAzAAA=k9@AsA#j@AE<A՜=A?A?A@?AӼ*A.:?2A2ֽ:A2=BA.:?JA2ֽRA2=٘i)I9#j@YG J<мJJJJ F&K Y_~?yDAF77{7v9)B[[?[W_~?[[[[[BZYY i) μInH?i5O:) ?))??YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040752.503165 s, next control iter: 1743040752.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14251, header.stamp.nsec: 00 temperature: 13.566299* salinity: 33.375576, density: 1025.000000* values[0]: 0.575157F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040752.903165 s. K~,9<,AJ"J*J2J:J=?BJ=?nJd5vJAQ@A@A_~? AAv_%"AABwNA"AZAbAjArAzAAAyq9@AO3sAoi@Ac<AS=A?A?A?A׼*A:?2A|ֽ:A=BA:?JA|ֽRA=٘i)I9oi@YG JռJJJJ F&K Y _~?y=ީcDAF{7j7yx9)¯B[[?[jb_~?[[[[[BZYY i) \ռI_H?iB/ ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040752.923165 s, next control iter: 1743040753.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040753.323165 s.sK~,T<,AAGz@Aq@A>`~? A"A%"AA'PwNA"AZAbAjArAzAAA:@A܉mZsAh@AV5 <A=AS?A@|W?A3B?Aּ*A:?2Aֽ:A7=BA:?JAֽRA7=٘i)I9h@Y G JQ׼B=JJJJ F&K Yx_~?yթCAF777Cz9 B)ƯBE[[) ?[l_~?[ߩ[[[[BZYY i ɽ) ^ܼIPH?iK>4 @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040753.343165 s, next control iter: 1743040753.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14252*, header.stamp.nsec: 0*0 temperature: 13.566563** salinity: 33.375595*, density: 1025.000000** values[0]: 0.574345*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040753.743165 s.WK~,o<,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: -0.092669< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743040753.743335F (some fields omitted in printout)Aףp= @AuT5@Ah`~? As AP%"AA\wNA"AZAbAjArAzAAAG-:@Az/sAh@AxAܲ=A ?AS~?Aph?ADԼ*A :?2A`׽:A||=BA :?JA`׽RA||=٘i)I9h@Y7 G JռC=JJJJF&K YW_~?y,ͩvCAF7ŧ7|9 B)ɯBE[[?[u_~?[ ֩[[[[ZZ¸BZYY i¸n=) мI-AH?iM8 [g@))[g@[g@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040753.783165 s, next control iter: 1743040754.143184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743040754.163165 s.v}"K~,q<,AA@@AUj2@A`~? AA%"AAhwNA"AZAbAjArAzAAA|vXD:@A!$GsAVg@AP,A=AŶ?A?A?Aϼ*A9?2A׽:A=BA9?JA׽RA=Yn??y==,ٓH`F? f=a? A?`:?K?k@艅 ?)n? I٘i)I9Vg@Y G J%ҼJrw;JJJF&K$y> Yb_~?yyĩBA?F77j7}9)ϯB[[.?[~_~?[ͩ[[[[ZZBZYY i) ļI0H?ir@ @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040754.183165 s, next control iter: 1743040754.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040754.583165 s.(K~, S<,AJ"J*J2J:JBJnJvJA)\u@A_h@A0`~? AA#%"AA-twNA"AZAbAjArAzAAA^,Z:@Ae 3sAXf@ARgA =Ak?A?A?A7*As:?2A ׽:A<BAs:?JA ׽RA<٘i)I9f@YV G JJJJJF&K Ym#_~?yŻBAF{79)կB[[C?[_~?[é[[[[ZZBZYY i) 퓸I7 H?iG a@))a@a@y=qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040754.623165 s, next control iter: 1743040754.983179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14253, header.stamp.nsec: 00 temperature: 13.566846* salinity: 33.375580, density: 1025.000000* values[0]: 0.573553F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040755.003165 s.w 0K~,H4<,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083327< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743040755.003304F (some fields omitted in printout)AR@AMy@A#`~? A AOO%"AA~wNA"AZAbAjArAzAAApZn:@A%msAEe@A(+A3=A?A?A`?A^*A:?2Ak׽:A<BA:?JAk׽RA<m#_~?)Ż٘i)I9e@Y G JJJJJF&K Yx'_~?y BAF)7ŧ7n9)ۯB[[[?[#_~?[[[[[ZZBZYY i) ǏIH?i>M |@))|@|@y=ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040755.023165 s, next control iter: 1743040755.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040755.423165 s.u6K~,<,AJ"J*J2J:J?BJ?nJ5vJA{G@A%<@A)`~? AEAG%"AAMwNA"AZAbAjArAzAAAj!*:@A0MsAd@A3˺AUs=A͆?A` ?A?Ar*A :?2Aa.׽:AQd<BA :?JAa.׽RAQd<٘i)I9d@YT G JJJJJF&K Y+_~?y^AA EF{7Z799B)߯BE[[w?[֔_~?[J[[[[ZZBZYY i) KIjG?i HQ j@))j@j@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040755.463165 s, next control iter: 1743040755.823176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14254", header.stamp.nsec: 0"0 temperature: 13.567213"* salinity: 33.375587", density: 1025.000000"* values[0]: 0.572608"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040755.843165 s.<K~,<,AAp= @A3K @A/`~? AaA%"AA2wNA"AZAbAjArAzAAA`8:@AшsA}-d@A;<A/=Ah?A@|/?A`t?APQҼ*AP:?2A5׽:A;BAP:?JA5׽RA;٘i)I9-d@Y G JB=JJJJF&K Y/_~?yAAFŧ7b79)B[[ᖱ?[Ӛ_~?[ݧ[[[[ZZBZYY i) tIG?i]T 8 @))8 @8 @vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040755.883165 s, next control iter: 1743040756.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040756.263165 s.DK~,=,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083327< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743040756.263268F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@AL4H?@A4`~? At۪Ao%"AANwNA"AZAbAjArAzAAA+w:@A!ssA~c@ApfR<A<A?A`O?A`?Aܲ*AD:?2A1׽:A}EBAD:?JA1׽RA}EY?R?y<xR<ٓH^?Zy?`,?`)??7L??)? I٘i)I9c@Yz G JyļC=JjJJJF&Kx> Y0_~?y٘@A?FΆ9B)BE[[G?[_~?[j[[[[ZZBZYY i#=) J4I.G?iD8[ 6u @))6u @6u @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040756.283165 s, next control iter: 1743040756.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 142552, header.stamp.nsec: 020 temperature: 13.5675182* salinity: 33.3755842, density: 1025.0000002* values[0]: 0.5717202F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040756.683165 s.lJK~,V+=,AA(\@A䠄u@A9`~? A~ӪA%"AAwNA"AZAbAjArAzAAAH0A:@AsAc@AL/<A <A J?A۾?A,?A*A/:?2A׽:A!BA/:?JA׽RA!٘i)I9c@Y* G J؜JJJJF&K Y1_~?y@AFZ7Z79)B[[{ַ?[_~?[ߔ[[[[ZZBZYY i) IHG?iƯ`  @)) @ @YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040756.683165 s, next control iter: 1743040757.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743040757.103165 s.!QK~,ؚF=,AJ"J*J2J:JH?BJH?nJc5vJAQ@AMG@A%=`~? A˪A/S&"AA)wNA"AZAbAjArAzAAAjyv:@AR>zsAgb@AH(;A)A-?A@?A`@?Am&*A' :?2Aֽ:AvBA' :?JAֽRAv٘i)I9b@Y G J8^JJJJF&K Y3_~?y6@AFb77d9B)BE[[z?[b_~?[@[[[[ZZBZYY ip=) H'kIG?i;je @))@@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040757.143165 s, next control iter: 1743040757.503186 s, wait time: 0.360021 s rAdjusting time to match Gazebo time: 1743040757.523165 s.WK~,{a=,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.079315< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743040757.523288F (some fields omitted in printout)AHz@AQ @A@`~? AêAa&"AAwNA"AZAbAjArAzAAA:Ϝ:@A&\[usAqb@AOAuAw?A`V?A R?Agݙ*A|:?2Azֽ:A?BA|:?JAzֽRA?٘i)I9qb@Y G JJJJJF&K YH4_~?yd~@AF7777.9)B[[?%?[m_~?[[[[[ZZBZYY i) tVIzG?i}h @))@@y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040757.543165 s, next control iter: 1743040757.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14256, header.stamp.nsec: 00 temperature: 13.567698* salinity: 33.375607, density: 1025.000000* values[0]: 0.571207F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040757.943165 s.J "J *J 2J :J :?BJ :?nJ U5vJ ed^K~,y]|=,AAq= #@A{@AC`~? AwA&"AAݱwNA"AZAbAjArAzAAAJ#:@A|HspsA9_b@AR[AڵA* ?Ae?A_?A1}*A9?2AJֽ:A ѼBA9?JAJֽRA Ѽ٘i)I9_b@Y G J^1JJJJF&K Yv5_~?yuk@AFj7Z79)[[SO?[_~?[w[[[[BZYY i) mAIЋG?i^4j i@))i@i@y =4*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743040757.963165 s, next control iter: 1743040758.343188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743040758.363165 s.eK~,>=,AAY@AIcL@AF`~? AjA)&"AAwNA"AZAbAjArAzAAA'i$*:@A ,J/ksAjb@AAQAQ3A?A\?A k?A ;*As9?2Aƍֽ:A?1BAs9?JAƍֽRA?1𼙘٘i)I9jb@Y G J:JJJJF&K Y6_~?ylH@AFŧ7b7ď9B)BE[[z?[5_~?[n[[[[BZYY i) fG-IxG?i?ώj 0@))0@0@q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040758.383165 s, next control iter: 1743040758.763179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14257", header.stamp.nsec: 0"0 temperature: 13.567732"* salinity: 33.375587", density: 1025.000000"* values[0]: 0.571113"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040758.783165 s.YkK~,=,AJ"J*J2J:J4?BJ4?nJN5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.079315< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200522 time: 1743040758.783333F (some fields omitted in printout)A(\@AްmQ@AH`~? AZAQ&"AAcwNA"AZAbAjArAzAAAYMq:@A϶PfsAb@A$ACZAI?A ϧ?As?Aƾ;*A9?2Aֽ:A`BA9?JAֽRA`I٘i)I9b@Y G J;JJJJF&K Y7_~?yc$@AF7ŧ79)B[[m?[_~?[[d[[[[BZYY i) I|dG?iui I@))I@I@?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040758.803165 s, next control iter: 1743040759.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040759.203165 s.sK~,&=,AAQ@AL@AlI`~? AHAc&"AAwNA"AZAbAjArAzAAAhㄝ:@AhasAb@Ay;At{A?A?Ay?Ak*<*Aj9?2A$׽:A@ BAj9?JA$׽RA@ ٘i)I9b@Y G Jt<JJJJF&K Y9_~?y [@AF7777Y9)B[[?[_~?[Z[[[[BZYY i) sIQG?i%.g T@))T@T@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040759.223165 s, next control iter: 1743040759.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040759.623165 s.WyK~,]=,AJ"J*J2J:JB?BJB?nJ]5vJAG@At%@AHJ`~? A4A&"AAwNA"AZAbAjArAzAAAE:@Amf˃\sAUc@A_A<AA??A?A|?AEY<*A9?2A\V׽:A|BA9?JA\V׽RA|٘i)I9c@Y9 G J?<JJJJ F&K Y1:_~?yOR?AFj7Z7$9)B[[h?[_~?[P[[[[BZYY i) ޻I=G?itc =@))=@=@*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743040759.643165 s, next control iter: 1743040760.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14258 , header.stamp.nsec: 0 0 temperature: 13.567661 * salinity: 33.375595 , density: 1025.000000 * values[0]: 0.571328 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040760.043165 s.K~,>,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.079315< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743040760.043302F (some fields omitted in printout)A= ף0@As#@AJ`~? AAM&"AAwNA"AZAbAjArAzAAAeA:@A%WsA^c@AfT<AAD?Ab4U?At}?A˃<*A9?2AC׽:A@YBA9?JAC׽RA@Y٘i)I9c@Yv G J*n<JJJJ"F&K Y_;_~?y~I?AF77779B)BE[[?[_~?[AG[[[[BZYY i{=) bIG+G?ia^ y@))y@y@M*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040760.063165 s, next control iter: 1743040760.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040760.463165 s.\K~,>,AJ"J*J2J:JL?BJL?nJh5vJAfffff@A2SZY@AfJ`~? A A=&"AAwNA"AZAbAjArAzAAAQx:@A!B RsAc@A;A-աA?A 쾋A{?A<*A9?2Aeֽ:A.BA9?JAeֽRA.Yͱ??yԡǸ;ٓHʆĿW`U?|? Ŀ"5?@K}?@9?)ͱ? I٘i)I9c@Y G J[<JJJJ#F&K> Y6_~?y@'@A?Fj7j79)B[[=?[4_~?[=[[[[BZYY iN=) ԗI3G?ipfc }@))}@}@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040760.483165 s, next control iter: 1743040760.863180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14259, header.stamp.nsec: 00 temperature: 13.567476* salinity: 33.375599, density: 1025.000000* values[0]: 0.571746F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040760.883165 s.yK~,@8>,AA(@A @AI`~? AA&"AAwNA"AZAbAjArAzAAAeRk:@A@ MsA|d@AA8AR?AA`v?A!9<*A`9?2Aֽ:A BA`9?JAֽRA ٘i)I9d@Y G J<JJJJ$F&K YJ2_~?y8@AF779)ܯB[[b?[_~?[3[[[[BZYY iE=) .tIG?if @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040760.903165 s, next control iter: 1743040761.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040761.303165 s.XK~,gS>,AJ"J*J2J:Jq?BJq?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.063786< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743040761.303308F (some fields omitted in printout)A@A@AlH`~? AzAwx&"AAwNA"AZAbAjArAzAAA:@A< IsAe@Ad1A׮A?AA \p?Ak<*A9?2A=>ֽ:AtEBA9?JA=>ֽRAtE٘i)I9e@Yr G Jr<JJJJ&F&K Y-_~?yo/AAFŧ77N9)ׯBE[[?[A_~?[\*[[[[BZYY i) Ļ8IMF?ih @))@@ywD=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040761.323165 s, next control iter: 1743040761.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14260*, header.stamp.nsec: 0*0 temperature: 13.567220** salinity: 33.375591*, density: 1025.000000** values[0]: 0.572396*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040761.723165 s.K~,Hn>,AAz@Ab֋@AF`~? ArA&"AAYwNA"AZAbAjArAzAAA>:@A/DsA,AA ףp=@A'e0@AYD`~? AjA4&"AALwNA"AZAbAjArAzAAAC:@Ai5?sAf@A AHA?AAo]?A<*A'9?2Aֽ:ABA'9?JAֽRA٘i)I9f@YI G J<JJJJ)F&K Y$_~?yAAF77779)̯B[[Q?[?_~?[+[[[[BZYY i) ̙I+F?ijh 7!@))7!@7!@y+=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040762.163165 s, next control iter: 1743040762.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040762.563165 s.K~,c >,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.063786< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743040762.563305F (some fields omitted in printout)A3333s@AdM*f@AA`~? AbA2P&"AApwNA"AZAbAjArAzAAAF:@A*N:sA2g@AD~7AZA?AxA]P?A[<*A:9?2Aֽ:AKBA:9?JAֽRAKY??yZF7ٓHпsK?`?ߩпȧ d?h>W?)? I٘i)I92g@Y G J<B=Jf5JJJ*F&K8x> YR_~?yMBA?Fj79)ƯB[[Z?[_~?[ [[[[BZYY i) `"ISF?i/l "@))"@"@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040762.583165 s, next control iter: 1743040762.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14261, header.stamp.nsec: 00 temperature: 13.566917* salinity: 33.375603, density: 1025.000000* values[0]: 0.573224F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040762.983165 s.K~,>,AJ"J*J2J:JBJnJvJA\@A.@A&>`~? AZA&"AAŮwNA"AZAbAjArAzAAA`x:@Atj5sAg@A<A녧A{?A_PA@?A<*A9?2A;׽:A BA9?JA;׽RA ٘i)I9g@Y G J<C=JJJJ+F&K Y_~?y BAF)7ŧ7y9B)BE[[%*?[9_~?[+[[[[BZYY i) *aL:ILF?iBpin ,AAQ@AXİ@AA:`~? ARA &"AALwNA"AZAbAjArAzAAAnV:@A h0sA\h@AKN`<A@Ak"?A@!A.?A<*AW9?2A~I׽:ABAW9?JA~I׽RA٘i)I9h@Y G Jm<B=JJJJ-F&K Y_~?y3CAF77{7D9B)BE[[zT?[_~?[[[[[BZYY i) :I1F?i𺿉EHo %@))%@%@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040763.423165 s, next control iter: 1743040763.803181 s, wait time: 0.380016 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14262&, header.stamp.nsec: 0&0 temperature: 13.566607&* salinity: 33.375595&, density: 1025.000000&* values[0]: 0.574029&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040763.823165 s.K~,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: 0.063786< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743040763.823325F (some fields omitted in printout)AGz@Aq@A5`~? AJA$ &"AAwNA"AZAbAjArAzAAA#=:@Ab+sA+i@A3<AʞA3?A A "?A?<*A9?2A׽:AyBA9?JA׽RAy٘i)I9+i@Y G J<C=JJJJ.F&K YH_~?yCAFŧ7b79)B[[~?[)}_~?[U[[[[BZYY i) *';I#zF?in o'@))o'@o'@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040763.843165 s, next control iter: 1743040764.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040764.243165 s.K~,q?,AAףp=J@Ae2=@A0`~? ABA &"AAwNA"AZAbAjArAzAAAP@:@AC&sA9i@At$;A_=A Y^~?y_~DA?F{79B)BE[[?[&j_~?[ި[[[[BZYY iߘ=) ߘ;I!RF?iYo *@))*@*@&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040764.683165 s, next control iter: 1743040765.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040765.083165 s.EK~,*SE?,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074646< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743040765.083309F (some fields omitted in printout)A)\µ@A@Au%`~? A3A &"AAwNA"AZAbAjArAzAAA]ߙs:@A_&S6sA\k@AcVA AuN?A@ƿA@?A<*AD9?2Anֽ:A>BAD9?JAnֽRA>٘i)I9k@YG J<JJJJ2F&K Y^~?y&DAFo9B)B E[[?[__~?[ը[[[[BZYY i) ;I=F?i̻*bp x,@))x,@x,@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040765.103165 s, next control iter: 1743040765.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040765.503165 s.K~,U4`?,AJ"J*J2J:J2?BJ2?nJ:5vJAR@AW z@A`~? AD+A &"AAwNA"AZAbAjArAzAAAUN\E_:@A?osAk@AʁEA&AR?A@^ȿA`Y?A@^<*A`9?2Anֽ:AKBA`9?JAnֽRAK٘i)I9k@YaG J<JJJJ3F&K Y^~?yڨFEAFŧ7ŧ799)B[[9(?[,T_~?[̨[[[[BZYY i) x_;I)F?iOp ~-@))~-@~-@}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040765.523165 s, next control iter: 1743040765.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14264, header.stamp.nsec: 00 temperature: 13.386710* salinity: 33.391628, density: 1025.000000* values[0]: 0.695865F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040765.923165 s.;K~,{?,AA{G!@ARy;@A`~? A{#A& &"AAwwNA"AZAbAjArAzAAAyyJ:@AYsA1l@A7AhA4?A 9ʿA??A<*A29?2A0ֽ:AkBA29?JA0ֽRAk٘i)I9l@YG J_<JJJJ5F&K Y^~?yҨEAF{7Z79)B[[R?[H_~?[è[[[[BZYY i) ;IF?i;`n f@/@))f@/@f@/@yĘ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040765.943165 s, next control iter: 1743040766.323181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040766.343165 s.<K~,?,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074646< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743040766.343303F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@A;I@Ay`~? AA &"AAlwNA"AZAbAjArAzAAAEq3:@A9sAl@A@;AkA%@A`/̿A lk?AI5<*A^9?2A/׽:A8BA^9?JA/׽RA8٘i)I9l@YG J <JJJJ6F&K Y^~?y{ʨFAF77ϱ9B)BE[[=@[`;_~?[[[[[BZYY i) ɒ Y^~?y¨lFAm@Fj7Z79)B[[@[-_~?[ڱ[[[[BZYY i) w@A_~? Ak Aw&"AATwNA"AZAbAjArAzAAAĿ`:@AŇ+sAJm@AqT<AhCA@AϿAx?A9<*A9?2A|<׽:AmBA9?JA|<׽RAm٘i)I9m@YG JM<JJJJ9F&K Y^~?yFAF{7d9)B[[g@[_~?[*[[[[BZYY i) }# elevatorAngleAction: 0.074646< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743040767.603309F (some fields omitted in printout)AQ@AwG@A_~? AA&"AApGwNA"AZAbAjArAzAAA"n9@AHsAn@AFa;AjċA@A`пA?A`X<*A9?2A)ֽ:ABA9?JA)ֽRA٘i)I9n@YG J<JJJJ:F&K YU^~?yⲨ$GAFb7b7/9B)E[[@[_~?[[[[[BZYY i) &3g 7@))7@7@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040768.063165 s, next control iter: 1743040768.423180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040768.443165 s.7K~,>]@,AAq= c@AIFV@Ac_~? AA&"AA*wNA"AZAbAjArAzAAA>A9@ARRPrAdo@A7AAA@A |ҿAN?Ay<*A9?2Adֽ:A~BA9?JAdֽRA~٘i)I9o@YwG J<B=JJJJ=F&K Y^~?y(GAF777ĺ9 B)BE[[#@[]^~?[ޏ[[[[BZYY i) 2R7@,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: 0.074646< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743040768.863310F (some fields omitted in printout)A@A}@A_~? AvA6&"AA/wNA"AZAbAjArAzAAA?w9@Ai RrAo@A]AlϐA@A ,`ӿA@d?AΝ<*A9?2Aiֽ:AL BA9?JAiֽRAL Y?@y̐IX^ٓH\2B? E?]6? ?)? I٘i)I9o@YG Jb<C=J JJJ>F&K1x> Y~^~?y>HA@Fŧ7b79)B[[< @[^~?[[[[[BZYY i) ;aԿA` 1?Aݝ<*A9?2Aֽ:A@ BA9?JAֽRA@ ٘i)I9 p@YG J<JJJJ?F&K Yuo^~?yRHAF77Y9 B)BE[[dJ @[6^~?[[[[[BZYY i=) pG9@AA+krAp@A":AAG @A@տAs?A&J<*A]9?2A5׽:AmBA]9?JA5׽RAm٘i)I9p@YhG J;<B=JJJJAF&K Y=`^~?y挨IAFS77$9)BE[[ @[7^~?[w[[[[BZYY i) a elevatorAngleAction: 0.084291< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743040770.123313F (some fields omitted in printout)AG:@AMeQ-@A_~? AةAN&"AATvNA"AZAbAjArAzAAAa"6\#9@A~ rAfq@A9<AA @AvտA#?A<*A9?2A B׽:ABA9?JA B׽RA٘i)I9q@YG J<C=JJJJBF&K YQ^~?y{aIAFj7j79)B[[In@[^~?[p[[[[BZYY i) @))>@>@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040770.163165 s, next control iter: 1743040770.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040770.543165 s.I(K~,â@,AJ"J*J2J:JBJnJvJA= ףp@Ac@A+_~? AѩAl&"AAvNA"AZAbAjArAzAAAd8@A 5rAq@A~D^<A%A9@A@ֿA`Dž?Afw<*AA9?2AF׽:A} BAA9?JAF׽RA} ٘i)I9q@YG J<JJJJCF&K YA^~?y~IAF779 B)BE[[@[^~?[yh[[[[BZYY i)  i YC0^~?y+w+JAu@Fb79)}B[[@[^~?[ a[[[[BZYY i)  elevatorAngleAction: 0.084291< massPositionAction: 0.000000nJ4 buoyancyAction: 0.000500vJ dt: 0.4200252 time: 1743040771.383328F (some fields omitted in printout)A(@A@A_~? AéA*&"AAvNA"AZAbAjArAzAAAGOi8@AW/f-rAKr@AL:AϤA@A@]sؿA ?A^F<*A9?2Aֽ:ABBA9?JAֽRAB٘i)I9r@YG J<JJJJFF&K Y^~?yFpJAF7O9B)zBE[[@[o^~?[Y[[[[BZYY i) m;@A<_~? AȼA&"AAvNA"AZAbAjArAzAAA㱄8@AprA0s@A]AA@AV?ٿA ?AͲ<*A9?2A7Pֽ:ArBA9?JA7PֽRAr٘i)I90s@YG Ju<JJJJGF&K Y* ^~?yaiJAF77779B)xBE[[@[Z^~?[R[[[[BZYY i) y elevatorAngleAction: 0.084291< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743040772.643285F (some fields omitted in printout)A ףp}@AWfp@Age_~? AWAA&"AAovNA"AZAbAjArAzAAA [F-8@AΦrAgt@AAAAț@AڿA@A?A2ھ<*AB9?2A[ֽ:AZrBAB9?JA[ֽRAZr٘i)I9gt@YG Jż<JJJJJF&K Y]~?y[KAF)7ŧ79B)pBE[[u@[0^~?[E[[[[BZYY i) H@))">H@">H@*YFFF]:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14271Waiting for Gazebo time sync: latest Gz time: 1743040772.663165 s, next control iter: 1743040773.043177 s, wait time: 0.380012 s, header.stamp.nsec: 00 temperature: 13.385401* salinity: 33.391685, density: 1025.000000* values[0]: 0.702007F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040773.063165 s.PK~,_ DA,AJ"J*J2J:JBJnJvJA3333@Az'@AVV_~? AèA&"AAYvNA"AZAbAjArAzAAA| 7@A*'rAu@A脻AyڪA/@AWۿA ?Avv<*A=9?2AǶֽ:ABA=9?JAǶֽRAY@@yڪ_ٓHATI? ?ST?p@q?)@ I٘i)I9u@Y"G J<JAJJJKF&KDx> Y`]~?yJUALA@F7)7z9)kB[[8S@[^~?[>[[[[BZYY i) 2F elevatorAngleAction: 0.084291< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040773.903289F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A(@A6_~? A曩A&"AA'*vNA"AZAbAjArAzAAA9J7@A|rAMv@A;9N<A`A@A$ݿA Jc?Av<*A9?2A6׽:A BA9?JA6׽RA ٘i)I9Mv@YG J<C=JJJJNF&K Y]~?yH&MAF{7j79B)fBE[[\i@[ ]~?[1[[[[BZYY i)  elevatorAngleAction: 0.084291< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743040775.163317F (some fields omitted in printout)A@An@A_~? AcA&"AAuNA"AZAbAjArAzAAAX(e.7@A4rAjMx@AymAA w@AO߿Aw?A<*A9?2ARֽ:AXBA9?JARֽRAXY'v@J|@ynٓHs|-?8s?B`Dy?*mP?)'v@ I٘i)I9Mx@Y G J<J.JJJRF&Kx> Yq]~?ys6NA|@F7o9)WB[[ @[]~?[ [[[[ZZZZ¸>BZYY i¸>r) y~%@[Y]~?[[[[[ZZZZBZYY i) h Y]~?yPA"@F77e9"B)@BعE[[6(@[}&]~?[[[[[ZZZZBZYY i4) 5vJAQ8@AE+@A$^~? A"bA&"AAYuNA"AZAbAjArAzAAAJ:|5@A+rAQ}@A5<AAN%@A 9A`#?AYr<*AM9?2AFvֽ:AΩ"<BAM9?JAFvֽRAΩ"<٘i)I9Q}@Y.G J<JJJJ\F&K Y%\~?y QAF779)9B[[[+@[\~?[[[[[ZZZZBZYY i) 8zB,AA@A@AD^~? A%SA)&"AAXtNA"AZAbAjArAzAAAZ4@A}rAM~@A\A{h=A)@AAY?A:*A9?2A7ֽ:A<BA9?JA7ֽRA\ٓH+`@F޿@m)@ I?`0.o?@렿Ń?)x@ I٘i)I9~@YG JP;Ji6>JJJ`F&K=x> Y\\~?yZQA~)@Fb7b7Z9*B):B˹E[[ 0@[\~?[[[[[BZYY i2o) =5vJA(\@AO@A/^~? AjNA&"AAtNA"AZAbAjArAzAAA`oQ4@A&WrA~@AS<Am6=Ae*@A%A?AY_!*A9?2AӶֽ:A<BA9?JAӶֽRA<٘i)I9Y Jf8JJJJaF&K Ypt\~?y,QAFŧ7%9)[[1@[n\~?[@[[[[BZYY i?) Pd,5vJAGz@A2om@A^~? AYEA;&"AA^tNA"AZAbAjArAzAAAA@4@AǞrA"}@A;A{=Ak[-@AmA?AU>*A9?2Aֽ:Au =BA9?JAֽRAu =٘i)I9}@Y]G JJJJJdF&K YB\~?ysPAF779-B)@BŹE[[w4@[O\~?[![[[[BZYY i)  3@A}wsrAUE}@AY\<Am=A.@AEA?Aɤt*A.9?2Aս:Aa=BA.9?JAսRAa=٘i)I9E}@Y&G J1XJJJJeF&K Y)\~?yFPAF7779)CB¹E[[5@[l4\~?[e[[[[BZYY i) ^i;ID?iݾ y+))y+ԥf@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040781.063165 s, next control iter: 1743040781.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040781.463165 s.VK~,]C,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.068481< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743040781.463272F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@A ]@A]~? A<A&"AAtNA"AZAbAjArAzAAA'@]z3@Aa6rAy|@AXV<AYu=AK/@A-A?Aߍ*A/9?2Avֽ:A9=BA/9?JAvֽRA9=Y!@/@y r=&8W<ٓH`|ؿ@=M_? ڏI.?EJ8Պ?`\?)!@ I٘i)I9|@YG JB=Jo=JJJfF&K_w> Y\~?yAPA/@F7P90B)IBE[[mb7@[\~?[[[[[BZYY i?o) ;IwC?i ̾T )))) h@<ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040781.503165 s, next control iter: 1743040781.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14280, header.stamp.nsec: 00 temperature: 13.384026* salinity: 33.391708, density: 1025.000000* values[0]: 0.708824F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040781.883165 s.yK~,IxC,AA(@A`@A+]~? A8A{5&"AAsNA"AZAbAjArAzAAA-63@Aop lrAY|@A^Q;A=AOD1@A`RkA@?AK*A9?2A+lֽ:A=BA9?JA+lֽRA=٘i)I9Y|@YG J|C=JJJJhF&K Ys[~?yOAF)7ŧ79)MB[[8@[[~?[~[[[[BZYY i) F;IC?iQ^i ())(i@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040781.923165 s, next control iter: 1743040782.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040782.303165 s.RK~,fgC,AJ"J*J2J:JBJnJvJAQ@A2D@Aj]~? A4AH&"AAdsNA"AZAbAjArAzAAA12@A5a rA!{@A,zA=A2@AAC?A*AT9?2A-ֽ:A=BAT9?JA-ֽRA=٘i)I9{@YEG JMJJJJiF&K Y[[~?y0}OAF7791B)RBE[[H:@[B[~?[\[[[[BZYY i) ׺;I[C?i=H  ')) ''k@zתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040782.323165 s, next control iter: 1743040782.703174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14281*, header.stamp.nsec: 0*0 temperature: 13.384267** salinity: 33.391731*, density: 1025.000000** values[0]: 0.707837*F (some fields omitted in printout)>[[~?)>0 rAdjusting time to match Gazebo time: 1743040782.723165 s.K~,HC,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058411< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743040782.723277F (some fields omitted in printout)Az@AN|z@Ag]~? A1A?&"AAsNA"AZAbAjArAzAAA@$]m2@AzrAE{@AGA5=A=3@A`Ai?A"*A9?2A ׽:A =BA9?JA ׽RA =٘i)I9E{@YG JxJJJJjF&K Y@[~?yOAF77{792B)XBE[[x;@[[~?[nާ[[[[BZYY i) LUl;IC?i~ # %))%1l@yyo٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040782.763165 s, next control iter: 1743040783.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743040783.143165 s.Y/K~,*C,AJ"J*J2J:J5?BJ5?nJ=5vJA ףp@A[d@A&}]~? A~-A[ &"AAsNA"AZAbAjArAzAAATd2@A.}rAԳz@AU`AÝ=AE5@AA`ˍ?Au*A9?2A׽:A]=BA9?JA׽RA]=٘i)I9z@YG JJJJJlF&K Y&[~?ywNAFz94B)^BE[[$=@[[~?[ܧ[[[[BZYY i) Y9/;IfC?is</8 #$))#$n@6٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040783.163165 s, next control iter: 1743040783.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040783.563165 s. K~, C,AA3333@Aq&@Ae]~? A*A[ &"AAEosNA"AZAbAjArAzAAAB' 2@Abl{rAz@AA`=A6@A`|MA@:?Afe*AY9?2Aֽ:AoG=BAY9?JAֽRAoG=Y{(@6@y=>ٓH Z@&Bҿ@Q@^>?G@?Py {`?){(@ I٘i)I9z@Y;G JJ4<JJJmF&K4x> Y[~?yާONA6@F77E95B)dBE[[s>@[[~?[,ۧ[[[[BZYY i) ?:IeC?ip۾ ħ"))ħ"wo@֪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040783.603165 s, next control iter: 1743040783.963182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14282, header.stamp.nsec: 00 temperature: 13.384531* salinity: 33.391731, density: 1025.000000* values[0]: 0.706712F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040783.983165 s.K~,C,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058411< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743040783.983304F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(@A e@AM]~? A&A &"AAKsNA"AZAbAjArAzAAAtI1@AeyrAy@A}:AN=A7@AA`?Ayе*A9?2Alֽ:A3=BA9?JAlֽRA3=٘i)I9y@YG JִJJJJnF&K Y q[~?ynܧMA F77{79)hB[[@@[:r[~?[٧[[[[BZYY iN) G\:IC?iH̽ 3!))3!p@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040784.003165 s, next control iter: 1743040784.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040784.403165 s.&K~,D,AAQ^@AQ@A6]~? A#Aw &"AAn'sNA"AZAbAjArAzAAA3AD1@A;2bvwrAx@Ak/<Aڔ=A9@AA?A>$*A9?2A-8ֽ:A*7=BA9?JA-8ֽRA*7=٘i)I9x@YG JJJJJpF&K YU[~?y٧~MA Fj7SI796B)nBE[[ mA@[tV[~?[ا[[[[BZYY i) eIbC?i>& o))oF`r@9ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040784.423165 s, next control iter: 1743040784.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14283", header.stamp.nsec: 0"0 temperature: 13.384813"* salinity: 33.391727", density: 1025.000000"* values[0]: 0.705545"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040784.823165 s. K~,64D,AJ"J*J2J:J4?BJ4?nJd=5vJAGz@Aho@A]~? A A !&"AAsNA"AZAbAjArAzAAA=D1@A?xurAXx@A/d<Aɏ=A Z:@AnA?A*A9?2A?ֽ:A=BA9?JA?ֽRA=٘i)I9Xx@Y&G JDJJJJqF&K  9Y:[~? 9yfקMA Fb7797B)tBE[[PB@[:[~?[ק[[[[BZYY i) UIC?ie<(9 6M))6Ms@HǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040784.843165 s, next control iter: 1743040785.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040785.243165 s.K~,dOD,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067391< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743040785.243316F (some fields omitted in printout)Aףp=@A:6@A]~? AAS!&"AATrNA"AZAbAjArAzAAAq9_0@AsrAIw@A <A$Č=AȬ;@A@V A`2?Ai*AF9?2ACֽ:A;<BAF9?JACֽRA;<٘i)I9w@YG JB=JJJJrF&K Y[~?yԧLAFZ7Z7p98B)zBE[[:D@[W[~?[ק[[[[BZYY i) IC?iu=XV: ?))?vCu@yªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040785.263165 s, next control iter: 1743040785.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040785.663165 s.K~,qjD,AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14284, header.stamp.nsec: 00 temperature: 13.385114* salinity: 33.391720, density: 1025.000000* values[0]: 0.704372F (some fields omitted in printout)A@Ao@A\~? AA@!&"AAUrNA"AZAbAjArAzAAAڣ10@A+6rrABw@Aw9Aϕ=A=@A"3A?A+*A:9?2Aֽ:A<BA:9?JAֽRA<٘i)I9Bw@Y}G JC=JJJJtF&K Y[~?y^ҧDLAF:99B)BE[[vE@[[~?[y֧[[[[BZYY i) #Z9IC?iG >w(: m))mұv@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040785.683165 s, next control iter: 1743040786.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040786.083165 s.D!K~,RD,AA)\5@AjL(@A`\~? AcA̽!&"AArNA"AZAbAjArAzAAA9e0@A:prA v@AAR4=A]>@AZAa?AÐ*A9?2A׽:AQ%<BA9?JA׽RAQ%<٘i)I9v@Y1G JJJJJuF&K YZ~?yϧKAF)7ŧ79;B)BE[[F@[Z~?[֧[[[[BZYY i) vuI"C?it>W6; V))V_x@_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040786.123165 s, next control iter: 1743040786.483176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743040786.503165 s.'K~,;4D,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067391< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743040786.503277F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@Af.py^@A\~? AAE!&"AAnrNA"AZAbAjArAzAAAΊ0@A1orANv@A2dA=A?@AAA@v?A*A9?2A*׽:Av<BA9?JA*׽RAv<٘i)I9Nv@YG JJJJJvF&K YZ~?yUͧsKAFj7j79WV; [))[Zy@+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040786.523165 s, next control iter: 1743040786.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14285, header.stamp.nsec: 00 temperature: 13.385363* salinity: 33.391727, density: 1025.000000* values[0]: 0.703357F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040786.923165 s.6.K~,D,AA{G@A`;@A\~? AA"&"AAHrNA"AZAbAjArAzAAA (/@A DmrAu@A:A=A@@A@3A3?Aw*AQ9?2Aֽ:A.<BAQ9?JAֽRA.<٘i)I9u@YG JSJJJJxF&K YZ~?yʧ KAF777 9)B[[JI@[Z~?[է[[[[BZYY i) ӶIsC?iU>gt; 0))0z@嶪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040786.943165 s, next control iter: 1743040787.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040787.343165 s.<5K~,D,AJ"J*J2J:J3?BJ3?nJ<5vJAp= @A@Aa\~? AAE"&"AA"rNA"AZAbAjArAzAAA]~/@AlrAgu@A%=Ai;=AP>B@AwA;?A퉼*A9?2A@ֽ:AJ<BA9?JA@ֽRAJ<٘i)I9gu@Y\G J҈B=JJJJyF&K YZ~?yMȧJAF)7ŧ7e 9=B)BE[[EJ@[Z~?[֧[[[[BZYY i) |ԻID?iR?"; ))'T|@7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040787.363165 s, next control iter: 1743040787.743178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14286*, header.stamp.nsec: 0*0 temperature: 13.385564** salinity: 33.391731*, density: 1025.000000** values[0]: 0.702487*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040787.763165 s.7;K~,D,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067391< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743040787.763297F (some fields omitted in printout)A @ANG@Ap\~? AA Yt|Z~?yǧIJAC@F7b70 9>B)BE[[[L@[~Z~?[l֧[[[[BZYY ioޣ) 8Iz D?i5?!޹; d))d}@ƵYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040787.783165 s, next control iter: 1743040788.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040788.183165 s.BK~,Z E,AJ"J*J2J:JBJnJvJA(\B@A@5@AV\~? A Ag"&"AA2qNA"AZAbAjArAzAAAJ]Or-@AMMjrA}t@A[<Aě=A$D@A`A@?A *A9?2ANֽ:A<BA9?JANֽRA<٘i)I9}t@YG JJJJJ|F&K YP`Z~?yƧIAF77{79?B)BE[[%M@[dZ~?[֧[[[[BZYY i)  ID?i?"; ))2"@YYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743040788.203165 s, next control iter: 1743040788.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040788.603165 s.64IK~,&E,AAQx@AnEk@A5=\~? A` Au"&"AAqNA"AZAbAjArAzAAA[X;5-@A.[iSirAt@AJN<A=AF@AA?A2@*A_9?2Apֽ:A=BA_9?JApֽRA=٘i)I9t@YG JJJJJ}F&K Y*DZ~?yƧIAFŧ7b79)BE[[BO@[|IZ~?[ק[[[[BZYY i) rI;D?ih,?I; ͗))͗C@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040788.623165 s, next control iter: 1743040789.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14287 , header.stamp.nsec: 0 0 temperature: 13.385810 * salinity: 33.391735 , density: 1025.000000 * values[0]: 0.701577 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040789.023165 s.ZPK~,{AE,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.080014< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743040789.023300F (some fields omitted in printout)AHz@A( @A#\~? A A\"&"AAqNA"AZAbAjArAzAAAF,@An}qhrAƗs@AG|;AK=AlG@A o%AB?A@O*AO9?2Aֽ:A=BAO9?JAֽRA=٘i)I9s@YAG J:JJJJF&K Y(Z~?yCŧ?IAF779@B)BE[[iP@["/Z~?[ا[[[[BZYY i) <)I`'D?iwE,AJ"J*J2J:JBJnJvJA@Ad @A$[~? AA#&"AA;qNA"AZAbAjArAzAAA,,b+@AMfrA8r@AKAy=AHA@5IA?A5*Aӽ9?2A ;׽:A=BAӽ9?JA ;׽RA=Y$<@pHyv=LٓH E?]6G>@kk`(qa?)$<@ I٘i)I9r@YG JoJ<JJJF&KOx> YY~?yħHAHF77{7%9)BE[[HS@[Y~?[ڧ[[[[BZYY i) AHI4>D?iY?ot < kn ))kn X@ӿYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040789.883165 s, next control iter: 1743040790.263188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743040790.283165 s.8RdK~,E,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.080014< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743040790.283333F (some fields omitted in printout)A(\O@A%RB@AN[~? AA#&"AAqNA"AZAbAjArAzAAA>*@AyffrAlNr@A|ZA.g=AFA@WA?AO*A޸9?2A#׽:AV=BA޸9?JA#׽RAV=٘i)I9Nr@YyG JރJJJJF&K Y]Y~?yħ+HAFb779)B[[XlT@[Y~?[ܧ[[[[BZYY i) WIJD?if?<  )) ` @-ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040790.323165 s, next control iter: 1743040790.683178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14289., header.stamp.nsec: 0.0 temperature: 13.386250.* salinity: 33.391716., density: 1025.000000.* values[0]: 0.699873.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040790.703165 s.ӺjK~,E,AJ"J*J2J:JBJnJvJAQ@ATx@Aj[~? AA'#&"AApNA"AZAbAjArAzAAA3&(*@AnerAq@AA|=A pEAQbA@'S?A,ɏ*AG9?2Aֽ:A' =BAG9?JAֽRA' =٘i)I9q@Y2G JB=JJJJF&K YY~?yħGAFŧ7b79BB)BE[[U@[ Y~?[ݧ[[[[BZYY i) +3gIWD?iu?-< y ))y @ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040790.723165 s, next control iter: 1743040791.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040791.123165 s.4qK~,PE,AAG@Aխ@A{[~? A,A5#&"AApNA"AZAbAjArAzAAA4p)@A%erAs]q@A3;Ac_=A.DAkA?AB*A/9?2Aqֽ:A=BA/9?JAqֽRA=I٘i)I9]q@YG J^C=JJJJF&K YY~?y ŧpGA Fb79)BE[[W@[Y~?[Lߧ[[[[BZYY i) yvIeD?i?t'< M ))M i@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040791.143165 s, next control iter: 1743040791.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040791.543165 s.IxK~,E,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.080014< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743040791.543282F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@A@A[~? AA@#&"AA,pNA"AZAbAjArAzAAAY #(@AZ=AerA/p@A9<Aʚ=ABA vqA ?Aܣ*A9?2A.ֽ:A=BA9?JA.ֽRA=٘i)I9p@YG JJJJJF&K Y~Y~?y.ŧGA"F77{7P9CB)BE[[@_X@[~Y~?[[[[[BZYY i) QItD?i?Z3< ))@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040791.583165 s, next control iter: 1743040791.943176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14290, header.stamp.nsec: 00 temperature: 13.386476* salinity: 33.391720, density: 1025.000000* values[0]: 0.698955F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040791.963165 s.~K~,E,AAffff&@Ay[@An[~? AiAUH#&"AAvpNA"AZAbAjArAzAAA[QيP(@AkerAKp@AWd<A=AAAuAq?Ay*A9?2Am0ֽ:A&=BA9?JAm0ֽRA&=YDB@PAy=9e<ٓH¯`륽?`ս@ t?@@??)DB@ I٘i)I9Kp@Y@G JJʬ<JJJF&Kw> YbY~?y6ƧFAA#F779)B}E[[۰Y@[A{Y~?[![[[[BZYY i) ID?iǑ?D:< ))Oƅ@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040791.983165 s, next control iter: 1743040792.363186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743040792.383165 s.؅K~,/F,AJ"J*J2J:JBJnJvJA(\@AO@AT[~? AFAL#&"AAhOpNA"AZAbAjArAzAAA޲'@A=xdrA#o@A<A=AJN@ANwAFA$F77 9)ƯBzE[[o[@[NbY~?[H[[[[BZYY i)  ID?iO?mB< 7))7St@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040792.403165 s, next control iter: 1743040792.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14291", header.stamp.nsec: 0"0 temperature: 13.386741"* salinity: 33.391724", density: 1025.000000"* values[0]: 0.697921"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040792.803165 s.zAK~,g3F,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.080014< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743040792.803322F (some fields omitted in printout)A@Am9@A:[~? AMAM#&"AA(pNA"AZAbAjArAzAAA.'@A_erA(o@AlAh=AF>AvAޖAU@*A9?2Aֽ:AN=BA9?JAֽRAN=٘i)I9(o@YG JJJJJF&K Y*Y~?yEȧEA&Fj7Z7"9DB)˯BwE[[M\@[IY~?[[[[[BZYY i) ψI1D?i?DmL< ))!@ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040792.843165 s, next control iter: 1743040793.203179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040793.223165 s.gK~,HNF,AJ"J*J2J:JBJnJvJAz@A2梁@A [~? AAK#&"AApNA"AZAbAjArAzAAAxw&@A} erA3n@AAأ=Ao=A@=sA GAٮ*A9?2AW!׽:AI=BA9?JAW!׽RAI=٘i)I9n@Y5G JJJJJF&K Y|Y~?yLɧkEA'F)7b7{$9)ϯBtE[[]@[\1Y~?[[[[[BZYY i) OI@D?i?V< ))·@HYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040793.243165 s, next control iter: 1743040793.623181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040793.643165 s.|ЙK~, *iF,AA ףp@Ad@A[~? AAF#&"AA5oNA"AZAbAjArAzAAA%@A/XerAun@AhcAQ=A\G<ASmA@դAtb*A͠9?2Ay*׽:A.=BA͠9?JAy*׽RA.=٘i)I9n@YG JﯼJJJJF&K YuX~?ySʧEA(F77E&9)ԯB[[^@[mY~?[[[[[BZYY i) IHD?i ?b< )))){@YFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14292, header.stamp.nsec: 00 temperature: 13.387018* salinity: 33.391708, density: 1025.000000* values[0]: 0.696843F (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743040793.663165 s, next control iter: 1743040794.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040794.063165 s.K~,| F,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.080014< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743040794.063293F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333@A- (&@AZ~? AbA>#&"AAܱoNA"AZAbAjArAzAAA. <%@AL0erAkm@Ac42A|J=A0:A`dA@mrA|*A*9?2A%ֽ:A_=BA*9?JA%ֽRA_=Y I@ ;yG=2ٓH@!@?dz?˿b:@ 㴿oF3?) I@ I٘i)I9km@YG JJ18<JJJF&Kx> YX~?y<̧DA ;*F7{7(9)ٯBqE[[N,`@[gY~?[Q[[[[BZYY i) {߯ID?i?i< ))&@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040794.083165 s, next control iter: 1743040794.463190 s, wait time: 0.380025 s rAdjusting time to match Gazebo time: 1743040794.483165 s.u_K~,F,AA\h@A Y[@AZ~? AAQ2#&"AAoNA"AZAbAjArAzAAAI|Ξ$@AgfrAl@A A=AԼ9A%ZA$A*Aʝ9?2A ֽ:A=BAʝ9?JA ֽRA=٘i)I9l@Y G JJJJJF&K Y[X~?y&Χ DA+F7)9EB)ޯBnE[[ua@[X~?[2[[[[BZYY iɵ)  YMX~?y֧[BA40Fŧ7b719)BcE[[Ҋf@[ X~?[[[[[BZYY i) ژԼILE?iN?3[< ۡ))ۡdg@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040796.203165 s, next control iter: 1743040796.563179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040796.583165 s.K~,R%G,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: -0.089214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743040796.583334F (some fields omitted in printout)A)\u@AʧǶh@A(RZ~? A A`"&"AAxnNA"AZAbAjArAzAAATr:!@AݫirAi@AuA%=A33A@Ak¿Aļ*AŇ9?2Aֽ:Ah5=BAŇ9?JAֽRAh5=٘i)I9i@Y)G J4żJJJXFJF&K Y-3X~?ym٧AA2F{7j729)B[[g@[wX~?[[[[[BZYY i) \ۼI>eE?i?r< ))c @wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040796.603165 s, next control iter: 1743040796.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14295, header.stamp.nsec: 00 temperature: 13.387907* salinity: 33.391701, density: 1025.000000* values[0]: 0.693278F (some fields omitted in printout)-3X~?)m٧ rAdjusting time to match Gazebo time: 1743040797.003165 s.x K~,L4@G,AAR@Adz@A8Z~? AA"&"AAؠnNA"AZAbAjArAzAAAGC @AIjrAh@AOAUT=A01AA OĿAż*Aڂ9?2A@ ׽:A=BAڂ9?JA@ ׽RA=٘i)I9h@Y G JļJJJJF&K YfX~?y3ܧsAA3F7)749)B`E[[i@[aX~?[([[[[BZYY i) <)IL~E?i?< ϕ))ϕg@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040797.043165 s, next control iter: 1743040797.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040797.423165 s.uK~,[G,AJ"J*J2J:JBJnJvJA{G@AQ<@AiZ~? AlA"&"AAcznNA"AZAbAjArAzAAAHV` @A>tkrAHh@A3%WA=AX0AA`,ƿA.ʼ*A%~9?2Axֽ:A/8=BA%~9?JAxֽRA/8=٘i)I9Hh@Y_ G JlǼJJJJF&K YW~?yާ@A4F77f69)B]E[[Pj@[gLX~?[ [[[[BZYY i) pI2E?i?V;< k))k뿩@J@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040797.443165 s, next control iter: 1743040797.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14296, header.stamp.nsec: 00 temperature: 13.388185* salinity: 33.391701, density: 1025.000000* values[0]: 0.692073F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040797.843165 s.K~,uG,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.089214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743040797.843292F (some fields omitted in printout)Ap= @Ac: @A:Z~? AhAb"&"AATnNA"AZAbAjArAzAAA @A#9mrAg@AtڻAw=AJ/AAfȿA}Ѽ*Ay9?2Aֽ:A=BAy9?JAֽRA=٘i)I9g@Y G JSͼJJJJF&K YW~?y@A6FZ7SI7089)BZE[[ȍk@[F7X~?[ [[[[ZZ¸BZYY i¸-[=) ޼IE?i?< ))迩@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040797.863165 s, next control iter: 1743040798.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040798.263165 s.K~,ؐG,AJ"J*J2J:JBJnJvJAL@A?@A-Y~? AA:"&"AA .nNA"AZAbAjArAzAAA) _@A=lzPnrA&f@AY;Aɸ=Aj .A߈AɿAڼ*Au9?2A4ֽ:A@# =BAu9?JA4ֽRA@# =YV@~.yȸ=ogZ;ٓH@7?c!ڿ1Z |0k??)V@ I٘i)I9f@Y G JռJ_<JJJF&Kw> Y W~?yZ@A.7F7{799) BWE[[Ol@[-"X~?[[[[[ZZBZYY i) iҼIE?iB?]< ))濩#@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040798.283165 s, next control iter: 1743040798.663177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14297., header.stamp.nsec: 0.0 temperature: 13.388503.* salinity: 33.391693., density: 1025.000000.* values[0]: 0.690817.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040798.683165 s.lK~,cG,AA(\@Au@AHY~? AA"&"AA/nNA"AZAbAjArAzAAAh1@AÑorA}f@AY=<AMn=AH,A{cAཚ˿Al*Ay9?2AFս:AH=BAy9?JAFսRAH=٘i)I9f@Y G JJJJJF&K YjW~?y?A8Fj7j7;9CB)BTE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #91q/[^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[ZZBZYY i) SƼ)BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040798.683165 s, next control iter: 1743040799.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743040799.103165 s.K~,G,AJ"J*J2J:J0?BJ0?nJ<95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000> elevatorAngleAction: 0.081229< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743040799.103306F (some fields omitted in printout)AQ@A+MF@AY~? AIAd!&"AAmNA"AZAbAjArAzAAA\@A1l5qrAR7e@A^<AU֜=A+A@=A hͿAA*A9?2A;ֽ:A<BA9?JA;ֽRA<٘i)I97e@Y G JJJJJF&K YW~?y?A:F77{7=9)B[[Io@[W~?["[[[[ZZBZYY i) ;IbE?iC@۫< #)) #ῩƐ@y=O٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040799.123165 s, next control iter: 1743040799.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040799.523165 s.K~,{G,AAHz@Amɪ@AY~? AAf!&"AA9mNA"AZAbAjArAzAAAa(7@AUrrAYd@A<A/~=A&*A@A@пA*Ah:?2As:A~<BAh:?JAsRA~<٘i)I9Yd@Y G JJJJJF&K Y{W~?y)>A;Fj7[?9) BRE[[gp@[-W~?[s[[[[ZZBZYY i) $I F?i1 @< !߿))޿/d@̲YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743040799.543165 s, next control iter: 1743040799.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14298, header.stamp.nsec: 00 temperature: 13.388874* salinity: 33.391663, density: 1025.000000* values[0]: 0.689238F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040799.943165 s.YdK~,F]G,AJ"J*J2J:JBJnJvJAq= #@Aw@AY~? AAqz!&"AAmNA"AZAbAjArAzAAA@A-trAac@A8A> :=A)AA2пAռ*A:?2Ao ý:Aќ;BA:?JAo ýRAќ;٘i)I9c@Y G J#B=JJJJF&K Y=bW~?y>A<Fŧ7)7&A9)&BOE[[߼q@[W~?["[[[[ZZBZYY i1h=)  I'F?i@ o< =ܿ))=ܿk@LYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040799.983165 s, next control iter: 1743040800.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040800.363165 s.K~,>H,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.090042< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743040800.363293F (some fields omitted in printout)AY@A}L@A>rY~? A!AC!&"AA smNA"AZAbAjArAzAAA"F@AJY LvrAb@A,;AǮ<AP(AA@,ѿAU*Aώ:?2AQ>Ž:A&ȺBAώ:?JAQ>ŽRA&ȺY`[@(y</?;ٓH Fz?`?`1޿c|A`@_e0?)`[@ I٘i)I9b@Y G JjżC=JJJJF&KEJ> Y{IW~?y =A(>F{7{7B9)+BLE[[r@[-W~?[l'[[[[ZZBZYY i-=) !I GF?i@D< 'ٿ))'ٿQ@$YpuYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040800.383165 s, next control iter: 1743040800.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14299&, header.stamp.nsec: 0&0 temperature: 13.389235&* salinity: 33.391674&, density: 1025.000000&* values[0]: 0.687792&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040800.783165 s.X K~,2H,AJ"J*J2J:JBJnJvJA(\@AP@A ZY~? A$Ac !&"AA8NmNA"AZAbAjArAzAAA-g@Avr"xrAib@ApA;<A'A`IAѿAx*A:?2A1ǽ:A1BA:?JA1ǽRA1٘i)I9ib@Y G JJJJJF&K Y0W~?yO=A?Fj7D9)/B[[2t@[W~?[,[[[[ZZBZYY i) FIgF?i@< #R׿))#R׿R;@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040800.803165 s, next control iter: 1743040801.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040801.203165 s.K~,MH,AAQ@A @ABY~? A'A &"AA)mNA"AZAbAjArAzAAA G0D@A` zrAu b@A ,AfaA`R&AAҿA4*Ak:?2A4ʽ:AwBAk:?JA4ʽRAw٘i)I9 b@Y G JeJJJJF&K YW~?y=AAF77{7F9BB)2BIE[[ju@[pW~?[0[[[[ZZBZYY iz=) ゼIF?i@&< Կ))ԿUד@yL҈=(YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743040801.223165 s, next control iter: 1743040801.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040801.623165 s.YK~,egH,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.078359< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743040801.623283F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@AD@A**Y~? A +Ag &"AAMmNA"AZAbAjArAzAAA^"@A| |rAka@APA0A^%AnA`uӿAӻ*A{:?2Aͽ:AރBA{:?JAͽRAރ٘i)I9a@Yk G JJJJJF&K Y0V~?y=ABFj7SI7PH9)4BFE[[v@[2W~?[5[[[[ZZBZYY i)  qIF?i@$< {vҿ)){vҿAHԿA'*A l:?2AϽ:A]üBA l:?JAϽRA]ü٘i)I9a@YW G JJJJJF&K YmV~?y \=ACF77{7J9)CE[[w@[etW~?[:[[[[BZYY i) ;\IgF?i!@< п))п @yΡ=%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040802.063165 s, next control iter: 1743040802.443186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743040802.463165 s.['K~,H,AJ"J*J2J:JBJnJvJAfffff@AM]Y@AX~? A2Ax &"AAlNA"AZAbAjArAzAAA,l@A} MrAa@A^<Au*A \"A AfտA:*A\:?2Aѽ:ABA\:?JAѽRAY-a@he"yl*&^<ٓHP0?@3? ) Rء?T?Ћ?`!?)-a@ I٘i)I9a@YT G JSB=J*JJJF&Kp> Y#V~?y#=Ae"EFb77K9AB)@E[[{ y@[bW~?[?[[[[BZYY ie=) NKIF?ix$@< Ϳ))Ϳ9@e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040802.503165 s, next control iter: 1743040802.863180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14301, header.stamp.nsec: 00 temperature: 13.389564* salinity: 33.391674, density: 1025.000000* values[0]: 0.686609F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040802.883165 s.y-K~,DH,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056113< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743040802.883281F (some fields omitted in printout)A(@A@AX~? A5A&"AA0lNA"AZAbAjArAzAAAȑIN@AsrAƻa@AJ6<AqSA !A`/AտAT;*AM:?2Aӽ:A*BAM:?JAӽRA*٘i)I9a@Yb G JY;C=JJJJF&K YܷV~?y%=AFFM9BB)AE[[A?z@[kQW~?[D[[[[BZYY i=) ec:IG?i'@)< 8˿))8˿A@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040802.903165 s, next control iter: 1743040803.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040803.303165 s.S4K~,jgH,AJ"J*J2J:J/?BJ/?nJP85vJA@A6@AX~? A9A\{&"AA-wlNA"AZAbAjArAzAAAŷ@Ah/rAa@A,;A)TtAA ZA +ֿA'+<*ARE:?2A4ӽ:ArBARE:?JA4ӽRAr٘i)I9a@Y G J<JJJJF&K YV~?y(>AGF77{7{O9AB)2B>E[[7r{@[@W~?[I[[[[BZYY i) v)I8G?i+@T< ȿ))ȿۖ@T*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040803.323165 s, next control iter: 1743040803.703174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14302., header.stamp.nsec: 0.0 temperature: 13.389544.* salinity: 33.391666., density: 1025.000000.* values[0]: 0.686813.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040803.723165 s.;K~,HH,AAz@A<ۤ@A,X~? A=A)/&"AATlNA"AZAbAjArAzAAA|=iH@AtpUrA(Eb@AlAEAwuA*`A.׿Ad<*A`>:?2AmԽ:A| BA`>:?JAmԽRA| ٘i)I9Eb@Y G JKF<JJJJF&K YJV~?y+B>AIF77FQ9).B;E[[|@[0W~?[O[[[[BZYY i) I^G?i/@< [qƿ))[qƿs@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040803.743165 s, next control iter: 1743040804.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040804.143165 s.J "J *J 2J :J /?BJ /?nJ q85vJ a/BK~,5* I,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065471< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743040804.143287F (some fields omitted in printout)A ףp=@Ay@e0@AX~? AAA7&"AAI2lNA"AZAbAjArAzAAA7' @A;ىrAb@A^AFAA*Av"A`ؿA<*A::?2ADԽ:A-BA::?JADԽRA-٘i)I9b@Y G JP{<JJJJF&K YrV~?y-"{>AJFZ7Z7S9)+B[[}@[ W~?[bT[[[[BZYY i) I9G?i4@< wĿ))wĿ @y==*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040804.163165 s, next control iter: 1743040804.543186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743040804.563165 s.HK~,[ $I,AA3333s@AOWw,f@AX~? AEA&"AAplNA"AZAbAjArAzAAAݕ&v @AOsrA(c@APAwA}AA/ٿA<*A7:?2ANս:ABA7:?JANսRAYZQh@;ypt8EQٓH@GA@?6O?LV XJ?O??)ZQh@ I٘i)I9(c@Y@ G Jc<B=JJJJF&K{> Y\V~?y'>AKFb77T9@B)'B8E[[ @[BW~?[Y[[[[BZYY i) IG?i6@9< k))k@;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040804.583165 s, next control iter: 1743040804.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14303, header.stamp.nsec: 00 temperature: 13.389393* salinity: 33.391621, density: 1025.000000* values[0]: 0.687533F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040804.983165 s.OK~,>I,AJ"J*J2J:JBJnJvJA\@Ai5$@AsX~? AOJA:&"AAkNA"AZAbAjArAzAAAt@A."rAyc@AߨAiA}A@AٿAϡ<*A5:?2AIֽ:ABA5:?JAIֽRA٘i)I9c@Y G J<C=JJJJF&K YGV~?y-D?AMF{7Z7V9?B)"B5E[[m@[W~?[S_[[[[BZYY i) pһIG?i9@< Q))Qh;@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040805.003165 s, next control iter: 1743040805.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040805.403165 s.&VK~,YI,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065471< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743040805.403286F (some fields omitted in printout)AQ@A~O@A ^X~? ANA&"AA kNA"AZAbAjArAzAAAt@AgϮrA7d@A4;ApAA@XA 0ڿA(<*A4:?2Aֽ:Ap BA4:?JAֽRAp ٘i)I97d@Y G J~<JJJJF&K Y1V~?yX3?ANF77j7qX9@B)B6E[[n@[V~?[d[[[[BZYY i)  Iq@AQFŧ7ŧ7\9)B0E[[ہ@[V~?[$p[[[[BZYY i) ynILQH?iE@< H))H@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040806.263165 s, next control iter: 1743040806.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040806.663165 s.jK~,qI,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065471< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743040806.663314F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14305, header.stamp.nsec: 00 temperature: 13.388982* salinity: 33.391621, density: 1025.000000* values[0]: 0.689649F (some fields omitted in printout)A@ATVr@AX~? AE]A&"AAmkNA"AZAbAjArAzAAA;\@APrAe@A,v;AA-A@[|A ݿA=<*Ac2:?2A$׽:ApBAc2:?JA$׽RApYzn@7y*;ٓHb0?@? ? Wծ?y?`N~??)zn@ II٘i)I9e@Y G J<C=JJJJF&K Y>U~?y*E@A7RF77]9)B[[(r@[V~?[u[[[[BZYY i) f2IJ|H?iG@< ))#@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040806.683165 s, next control iter: 1743040807.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040807.083165 s.DqK~, SI,AA)\µ@AG˵@A X~? AWbAk&"AANkNA"AZAbAjArAzAAAW?Aa͝rA,{f@A+A[ApA` 0AݿA<*AU2:?2Aֽ:A~BAU2:?JAֽRA~٘i)I9{f@YF G Jȱ<JJJJF&K YU~?yKBAASF7_9>B) B,E[[@[V~?[{[[[[BZYY i) rIH?iJ@C= c))c*@q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040807.103165 s, next control iter: 1743040807.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040807.503165 s.wK~,@4I,AJ"J*J2J:J0?BJ0?nJF95vJAR@A (z@AW~? AgA&"AA<0kNA"AZAbAjArAzAAA\RTL?A _rAg@AT7A AAAɔ޿AҲ<*Am2:?2Aֽ:ABAm2:?JAֽRA٘i)I9g@Y G J]<JJJJF&K YQU~?yQAAUF7777fa9)B*E[["@[_V~?[[[[[BZYY i) /hI7H?iN@= B))B@R*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040807.523165 s, next control iter: 1743040807.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14306, header.stamp.nsec: 00 temperature: 13.388757* salinity: 33.391598, density: 1025.000000* values[0]: 0.690801F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040807.923165 s.7~K~,I,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065471< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743040807.923322F (some fields omitted in printout)A{G!@AL…<@A W~? AlAJ&"AA*kNA"AZAbAjArAzAAA ?AC8rAթg@A[cA2AX[AA L߿A<*A2:?2Acֽ:A#(BA2:?JAcֽRA#(٘i)I9g@Y G J<JJJJF&K YڸU~?yKXBAVF{71c90B)B[[^1@[V~?[[[[[BZYY i) 7ITI?iQ@;= ))򮿩YS@r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040807.963165 s, next control iter: 1743040808.323176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743040808.343165 s.<K~,J,AJ"J*J2J:JBJnJvJAp= W@AI@AW~? ALrAQ8&"AAjNA"AZAbAjArAzAAAUnY?A)T]rA:=h@AwAGAA>AAo<*A~2:?2A5׽:ABA~2:?JA5׽RA٘i)I9=h@YX G J<JJJJF&K YdU~?y^|BAWFŧ7b7d9/B)B'E[[Ą@[VV~?[[[[[BZYY i) Yw:II?iU@= ))@6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040808.383165 s, next control iter: 1743040808.743177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14307&, header.stamp.nsec: 0&0 temperature: 13.388505&* salinity: 33.391582&, density: 1025.000000&* values[0]: 0.691989&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040808.763165 s.6K~,0J,AǍ@A@AW~? AwA&"AAjNA"AZAbAjArAzAAA{nx?A6J=rAh@A89A8A'AvA@[A엢<*A.2:?2AD]׽:ABA.2:?JAD]׽RAYlu@}y8E9ٓH@O?`]?` ?`[?ޱ?G3??)lu@ I٘i)I9h@Y G J<B=J`u<JJJF&Ky> YU~?yeBAYF7{7f9)B[[dY@[@V~?[[[[[BZYY i) :IiW@k: = Q))Q_{@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040808.783165 s, next control iter: 1743040809.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040809.183165 s.˒K~,KJ,AJ"J*J2J:JJ1?BJJ1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065471< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743040809.183326F (some fields omitted in printout)A(\@A2=a@ASW~? A}A0_&"AA/jNA"AZAbAjArAzAAA~?A4*irAsOi@A$<AoAT A`A$A<*A1:?2AU׽:AXBA1:?JAU׽RAX٘i)I9Oi@Y G J<JJJJF&K YЂU~?yl<*A0:?2A׽:A;3BA0:?JA׽RA;3򼙘٘i)I9i@YLG JG<C=JJJJF&K YqU~?ysCA[F77[j90B)B%E[[@[NpV~?[矨[[[[BZYY i) kv;Ii]@; = ))@y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040809.643165 s, next control iter: 1743040810.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14308 , header.stamp.nsec: 0 0 temperature: 13.388279 * salinity: 33.391548 , density: 1025.000000 * values[0]: 0.693095 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040810.023165 s.ZK~, |J,AJ"J*J2J:JBJnJvJAHz.@AR !@AYW~? ACA|&"AAjNA"AZAbAjArAzAAAP?AaPrAIj@A{U4<A˓A A߿A]A<*AY/:?2Amt׽:A%BAY/:?JAmt׽RA%򼙘٘i)I9Ij@YG Jے<JJJJF&K Y@`U~?yzCA]F77{7&l9/B)ݯB"E[[@[teV~?[[[[[BZYY ij=) X;Ii`@u= h))h5@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040810.043165 s, next control iter: 1743040810.423187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743040810.443165 s.GæK~,]J,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074500< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743040810.443307F (some fields omitted in printout)Aq= c@ATƿV@AtW~? AJAG&"AAUijNA"AZAbAjArAzAAA-?A>rAMj@A;AACr A߿A@A><*A-:?2Am"׽:A/BA-:?JAm"׽RA/٘i)I9j@YG J<B=JJJJF&K YNU~?y~]DA^F777m9)دBE[[v@[[V~?[O[[[[BZYY i) ;Iid@e= !))!qǠ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040810.463165 s, next control iter: 1743040810.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14309, header.stamp.nsec: 00 temperature: 13.388066* salinity: 33.391552, density: 1025.000000* values[0]: 0.694101F (some fields omitted in printout)*NU~?)*~ rAdjusting time to match Gazebo time: 1743040810.863165 s.+K~,>J,AJ"J*J2J:J1?BJ1?nJR:5vJA@Aa@AcW~? AmA&"AA;OjNA"AZAbAjArAzAAAyaArAb>k@AA[4A.AO޿A@AR<*A(:?2Aֽ:AXBA(:?JAֽRAXY {@&yS3ۤٓH@C>)?@?]?Wð?` +?) {@ I٘i)I9>k@Y,G J\<C=J)<JJJF&Kx> Y @U~?yDA&_F{7o9)կB[[8@[PV~?[[[[[BZYY i) ;Iif@= K՞))K՞Z@Ҷ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040810.903165 s, next control iter: 1743040811.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040811.283165 s.0RK~,J,AA(\@A O@AUSW~? AA&"AA5jNA"AZAbAjArAzAAAҿAw8rAk@A"_A+AA ݿA@JA9<*Ac#:?2Aֽ:ABAc#:?JAֽRA٘i)I9k@YvG Jt<JJJJF&K Y1U~?ysEAaF77q90B)үB E[[$ˈ@[GV~?[[[[[BZYY i)  ;Iii@+= ))@yz=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040811.323165 s, next control iter: 1743040811.683174 s, wait time: 0.360009 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 143102, header.stamp.nsec: 020 temperature: 13.3878772* salinity: 33.3915332, density: 1025.0000002* values[0]: 0.6950772F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040811.703165 s.ֺK~,J,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074500< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J dt: 0.420086*J2J2 time: 1743040811.703357F (some fields omitted in printout):JBJnJvJAQ@A;5@A$CW~? AA/&"AAjNA"AZAbAjArAzAAAM޿ArA/l@AfIAAAܿAถA,<*A:?2ASֽ:ABA:?JASֽRA٘i)I9/l@YG J<B=JJJJF&K Y,"U~?ykEAbFb77Qs9/B)ίBE[[;]@[=V~?[c[[[[BZYY i) / elevatorAngleAction: 0.074500< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743040812.963292F (some fields omitted in printout)Affff@Al^Y@A"W~? AA"&"AAiNA"AZAbAjArAzAAAtAK& rA m@AFQ<Al$AݐAwڿA`?pA<*A:?2A׽:A}pBA:?JA׽RA}pY>=@y!Q<ٓHܿ?@?;` ܿ ?`?(?o?)>=@ I٘i)I9m@YG J݆<JӻJJJF&Kx> YT~?yͮ|FAfF)7b7x9)¯B[[i@[#V~?[Ҩ[[[[BZYY i) 09 elevatorAngleAction: 0.083516< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743040814.223315F (some fields omitted in printout)AzG@A3:@AV~? AʩA{&"AAIiNA"AZAbAjArAzAAAtf+kA(!rAn@A>]A1BAtA# ؿA3Av<*A`:?2Aֽ:A9 BA`:?JAֽRA9 ٘i)I9n@YkG J<JJJJF&K YT~?yƨGAjF77~9)B[[*Œ@[ V~?[d[[[[BZYY i) Jh YT~?y֨XHA4mF{7{790B)BE[[@[V~?[[[[[BZYY i) 5v elevatorAngleAction: 0.083516< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743040815.483359F (some fields omitted in printout)A\@A\=@A)V~? AJߩA&"AAZiNA"AZAbAjArAzAAA񡵛Ad=#rA}p@AqAAA@տA@%A<*A}9?2AEֽ:AZBA}9?JAEֽRAZ٘i)I9}p@Y^G J<JJJJF&K YѲT~?yިHAnF77q9)B[[q@[U~?[K[[[[BZYY i) ] #IAoFŧ7b7<9/B)BE[[@[FU~?[[[[[BZYY i) IFI"hFailure count cleared after critical for CTD_SeabirdAGzT@AsG@A;V~? AA!&"AA7iNA"AZAbAjArAzAAA+jA DXrAq@AȜ$<AA+EAӿAOAgԤ<*A9?2Av׽:AJBA9?JAv׽RAJ٘i)I9q@YG Jѣ<C=JJJJF&K YOT~?yIAqFb779)B[[@[%U~?[[[[[BZYY i) c1 elevatorAngleAction: 0.083516< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743040816.743284F (some fields omitted in printout)Aףp=@Aa80}@AV~? A+AQ&"AAq&iNA"AZAbAjArAzAAAyUAYmrAr@Ac<AfAA`ҿA*A=<*A9?2AIw׽:ABA9?JAIw׽RA٘i)I9r@YZG J<JJJJF&K YT~?yIArF{7Z7ш91B)BE[[@[jU~?[V[[[[BZYY i) á YT~?yJ^JA)sFZ790B)BE[[@[U~?[[[[[BZYY i) %#IFIZI׵8ECbI׵8NCjI׵8CrI׵8=zI׵8=I׵87A)\@Ap(|@A~V~? AA/&"AASiNA"AZAbAjArAzAAA`gAq>vWsADs@Ay:A AA@.&ѿAAi<*A9?2AHֽ:A{BA9?JAHֽRA{٘i)I9Ds@YG J <C=JJJJF&K YT~?yJAuF777f9)B[[;@[U~?[[[[[BZYY i) ˀ elevatorAngleAction: 0.083516< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743040818.003315F (some fields omitted in printout)AR+@AcFx{@A9V~? A AR&"AAhNA"AZAbAjArAzAAAV5VAB$sAs@AmdAg竽A ACпA=A<*A9?2ARjֽ:ABA9?JARjֽRA٘i)I9s@YqG J<JJJJF&K YT~?yU=KAvF77192B)BE[[3ʑ@[kU~?["[[[[BZYY i) ߷i>AE sAt@A`ApA%~A@οAw/A0<*A9?2AJֽ:AmBA9?JAJֽRAm٘i)I9t@YG J<JJJJF&K YyT~?yKAwF)7ŧ79)B[[X@[2U~?[W)[[[[BZYY i) = elevatorAngleAction: 0.083516< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743040819.263281F (some fields omitted in printout)J"J*J2J:JBJnJvJ@@@@A@AJÿ@AcmV~? A"A| &"AAhNA"AZAbAjArAzAAAUA=?*sAu@AMm~A̯An*ܿA ˿ANzA<*A9?2Aֽ:AcBA9?JAֽRAcY@{ܿy˯]ٓH`¿ޤ? ?fÿs? ?o?)@ I٘i)I9u@YG J<B=J.JJJF&KLx> Y[nT~?y+LAܿzF{7{791B)BE[[}s@[U~?[6[[[[BZYY i) zIFIZJ͛@JJ͛@bJ؛@RJ؛@AQ8@AAF+@Ac_V~? A)2A &"AAhNA"AZAbAjArAzAAAr](r A;sA9w@AT<A!sAtֿAYǿA`A0<*A49?2AW׽:AsBA49?JAW׽RAs٘i)I99w@YxG J<JJJJF&K YeT~?yy<MA}FZ7Z7'9)yB[[ǎ@[U~?[sD[[[[BZYY iܽ=) X elevatorAngleAction: 0.092705< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743040820.523267F (some fields omitted in printout)AHzn@AVa@A*YV~? A:A  &"AAhNA"AZAbAjArAzAAAh U AFr!sA w@AzT<APA(ԿAs|ſAA<*A69?2A2׽:ABA69?JA2׽RA٘i)I9w@YG J<JJJJF&K YaT~?y,EMA~F9)tB[[@[U~?[:K[[[[BZYY i) BZYY i¸>"Ĩ) BWM,AA@AD@ABNV~? AIA &"AAhNA"AZAbAjArAzAAAI % A\+sACy@AvAHNA%$ϿA >A A<*A9?2Agֽ:AȨBA9?JAgֽRAȨYF@ϿyMٓH@?? Nm?*? 0p ?)F@ I٘i)I9Cy@YG J<JѻJJJF&K"x> YI\T~?yVNAϿFj7j79,B)bBE[[5@[1U~?[X[[[[ZZZZBZYY i) ǓQ@AIV~? AQAG &"AA/hNA"AZAbAjArAzAAAt A4|N/sAk z@A-CAiɮA̿AտA`A}=*A 9?2A .ֽ:ABA 9?JA .ֽRA٘i)I9 z@Y0G J<JJJJF&K YZT~?yp_^OAFb77Q9)[B[[–@[U~?[_[[[[ZZZZBZYY i) V~? AiAt&"AAVhNA"AZAbAjArAzAAAz! Aˤr>sA|@Aa;Ay'2A'ĿA A OA= <*A9?2A؊ֽ:AɻBA9?JA؊ֽRAɻI٘i)I9|@YG J<JJJJF&K YVT~?yyPAF779)HB[[¿[U~?[s[[[[ZZZZBZYY i) eJJJF&Kw> YXT~?yPA!¿F|9)CB[[Ki[U~?[z[[[[ZZZZBZYY imՌ) .\HsA}@Av<A|D!AAGکA`gAx<*A9?2Alֽ:AR<BA9?JAlֽRAR<٘i)I9}@Y^G JH<JJJJF&K YZT~?yiQAF777G9)?B[[5[U~?[a[[[[ZZZZBZYY i) JJJF&KGx> YcT~?yGQAF77r9)[[k[U~?[>[[[[BZYY idi)  > Y{T~?y٩OAF{7{7g9)HB[[at[U~?[W[[[[BZYY i) ;Ii@ 0<=  ))  ΪYF-!\Communications Fault in component: CTD_SeabirdF]!\Communications Fault in component: CTD_SeabirdF]:Waiting for Gazebo time sync: latest Gz time: 1743040827.683165 s, next control iter: 1743040828.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040828.083165 s.DK~,SO,A!U@!M@!I@!Q@!E@!A@!Y@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066113< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743040828.083294F (some fields omitted in printout)A)\5@A'(@AeBV~? AQʪA&"AAˇhNA"AZAbAjArAzAAAes10 A_nMysA>|@A>;A`=AA&?A` BA9ӣ*A49?2ALjֽ:A=BA49?JALjֽRA=٘i)I9>|@YG JJJJJF&K YT~?ypOAF77729)LB[[OD[>U~?[é[[[[BZYY i) ,E;Ii@K <= x))xxUԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040828.103165 s, next control iter: 1743040828.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040828.503165 s.K~,@4 O,AJ"J*J2J:JBJnJvJARk@A!y^@A"FV~? AOҪA]y&"AAhNA"AZAbAjArAzAAA.? A;bi~sA={@AA1=A:ԢA ?Av0AO*Ae9?2ASֽ:Ac =BAe9?JASֽRAc =٘i)I9{@Y1G JoJJJJF&K Y.T~?y0OAFj7j79)PB[[[U~?[`ʩ[[[[BZYY i) ;Ii@&<= ))תYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743040828.523165 s, next control iter: 1743040828.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14327, header.stamp.nsec: 00 temperature: 13.567781* salinity: 33.375004, density: 1025.000000* values[0]: 0.580274F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040828.923165 s.6K~,;O,A "2Initializing CTD_Seabird.A{G@AB=@AfJV~? AFڪA%"AAhNA"AZAbAjArAzAAAdn AFOӢFsA#{@A .RAޝ=A$%Af?A IA8Ҫ*A͵9?2A$׽:AJ =BA͵9?JA$׽RAJ =٘i)I9#{@YG JJJJJF&K Y`T~?ywNAF77{7Ǽ9/B)VBE[[㣿[V~?[Щ[[[[BZYY i) f!y;Ii@@|<= n))nn:٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040828.943165 s, next control iter: 1743040829.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040829.343165 s.<K~,UO,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066113< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743040829.343279F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= @Aw@A1OV~? A6A@B%"AAhNA"AZAbAjArAzAAAӄĂ A,ڄsAӒz@AddA=AyA`H?AA *A[9?2AP׽:A9s=BA[9?JAP׽RA9s=٘i)I9z@YG J|JJJJF&K YT~?yfNAFŧ7b79)[B[[Q[D V~?[Fש[[[[BZYY i) r<;Ii@Y == ))}٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040829.363165 s, next control iter: 1743040829.743179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14328&, header.stamp.nsec: 0&0 temperature: 13.568043&* salinity: 33.375004&, density: 1025.000000&* values[0]: 0.579634&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040829.763165 s.5K~,pO,AA @Az@ATV~? AA%"AAhNA"AZAbAjArAzAAAAݨy A8sAy@AM8AS=AAw%?AAq)*A9?2A+ֽ:A=BA9?JA+ֽRA=YH@yR= ٓHq? ?`a?@@?@S@b?)H@ I٘i)I9y@Y(G JJ<JJJF&K8x> Y~T~?y7MAF77\9)_B[[[V~?[ݩ[[[[BZYY i) ;Ii;@u<= &))&뾩&تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040829.783165 s, next control iter: 1743040830.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040830.183165 s.K~,^O,AJ"J*J2J:JBJnJvJA(\B@A^5@ASZV~? AAz %"AAhNA"AZAbAjArAzAAA=(^ A^J鿑sAgy@A&;Aқ=An{A?AA*A9?2Aoֽ:A^j=BA9?JAoֽRA^j=٘i)I9gy@YG JJJJJF&K YkT~?yt MAFj7Z7'9)dB[[U[V~?[[[[[BZYY i) :Ii@<= 4))4㾩4֪YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743040830.203165 s, next control iter: 1743040830.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040830.603165 s.64K~,O,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066113< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743040830.603306F (some fields omitted in printout)AQx@AJGk@A`V~? AAt%"AAhNA"AZAbAjArAzAAAJR AYڇsAx@AQ|;<A=A,A?A ˴Ad*Ay9?2A/7ֽ:A;J=BAy9?JA/7ֽRA;J=٘i)I9x@YnG J綼JJJJF&K YZT~?y)MAF777791B)jB!E[[$[s V~?[][[[[BZYY i) e 9Iiڒ@;= rھ))rھrھӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040830.623165 s, next control iter: 1743040831.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14329 , header.stamp.nsec: 0 0 temperature: 13.568290 * salinity: 33.375008 , density: 1025.000000 * values[0]: 0.578960 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040831.023165 s.ZK~, |O,AJ"J*J2J:J6?BJ6?nJi5vJAHz@A^ @AgV~? AA%"AA hNA"AZAbAjArAzAAAs̬AkIsA4x@A|j<A͖=ASaA?A&A洼*A9?2A?ֽ:Ac=BA9?JA?ֽRAc=٘i)I94x@YG JJJJJF&K YHT~?yLAF779)oB[[-[6(V~?[[[[[BZYY i) tMIi@^<= Ѿ))ѾѾϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040831.043165 s, next control iter: 1743040831.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040831.443165 s.GK~,]O,AAq= @A^@AnV~? A\ AC%"AAhNA"AZAbAjArAzAAAHdA!sAw@A@<Av=A#A~?A rA4g*Aq9?2Aֽ:A=BAq9?JAֽRA=٘i)I9w@YG JhJJJJF&K Y5T~?y-%VLAF9)tB[[+Ė[P0V~?[[[[[BZYY i) ڟ޺Ii4@Bl<= Ⱦ))ȾȾ˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040831.463165 s, next control iter: 1743040831.843192 s, wait time: 0.380027 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14330, header.stamp.nsec: 00 temperature: 13.568585* salinity: 33.375019, density: 1025.000000* values[0]: 0.578260F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040831.863165 s.+K~J"J,>O,A*J2J:J?BJ?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066113< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743040831.863314F (some fields omitted in printout)A@AA*Ŏ @AvV~? AAܬ%"AA@hNA"AZAbAjArAzAAAZ};A7 JsAcw@A0A=AA@`V?AMA*Af9?2Aֽ:A1<BAf9?JAֽRA1 YT~?y-KAFb77R92B)yB$E[[[8V~?[[[[[BZYY i) ,Ii@;= 2))22|ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040831.883165 s, next control iter: 1743040832.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040832.283165 s.5RK~,P,AA(\O@A2PB@AV~? AA%"AAhNA"AZAbAjArAzAAAcpAgybsAv@A!A=AVA+?Aj&A*A9?2A(׽:Aj<BA9?JA(׽RAj<٘i)I9v@Y G JJJJJ F&K YXT~?y4KAF{7j79)~B%E[[ d[AV~?[A[[[[BZYY i) iIi@;= ~p))~p~pêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040832.303165 s, next control iter: 1743040832.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14331., header.stamp.nsec: 0.0 temperature: 13.568802.* salinity: 33.375027., density: 1025.000000.* values[0]: 0.577619.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040832.703165 s.ֺ K~,-P,AJ"J*J2J:J?BJ?nJ 5vJAQ@Ax@AV~? AM A%"AAhNA"AZAbAjArAzAAA'厙AF^sA!v@A$lA=AA~?AA*A9?2AH4׽:A6<BA9?JAH4׽RA6<٘i)I9v@YG JJJJJ F&K YT~?y<2KAFŧ7ŧ79)B[[2[JV~?[` [[[[BZYY i) fIiՑ@5:= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040832.723165 s, next control iter: 1743040833.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040833.123165 s.<K~,qGP,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066113< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743040833.123295F (some fields omitted in printout)AG@Awb֭@ATV~? A'AK%"AA\hNA"AZAbAjArAzAAA'-m,A^sA_u@A0:ASJ=AMAWb?AA ˔*A9?2AI׽:A..<BA9?JAI׽RA..<٘i)I9u@YpG JJJJJ F&K Y{T~?yDJAF{7j793B)B(E[[+['TV~?[r[[[[BZYY iy) +BIi@ҍ:= 䥾))䥾䥾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040833.143165 s, next control iter: 1743040833.523182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040833.543165 s.IK~,bP,AJ"J*J2J:JBJnJvJA= ף@A,_@A1V~? AP/A[%"AAiNA"AZAbAjArAzAAA-A.sAw u@AIA-׈=A|AC?A@A4*A$9?2Aֽ:AR<BA$9?JAֽRAR<٘i)I9 u@Y$G JJJJJ F&K Y U~?yLpJAF77}9)B[[ϋ[]V~?[x[[[[BZYY i) лIi֑@:= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040833.563165 s, next control iter: 1743040833.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14332, header.stamp.nsec: 00 temperature: 13.569014* salinity: 33.375023, density: 1025.000000* values[0]: 0.577052F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040833.963165 s.{K~,}P,AAffff&@Al\@AV~? A6A:%"AA/iNA"AZAbAjArAzAAAeA>sA׎t@A_<A=AA ?AQrA@ *A9?2Aiֽ:AÒ<BA9?JAiֽRAÒ Y!U~?yTJAFb77G95B)B,E[[ [hV~?[m[[[[BZYY i) & Ii@9= n\))n\n\9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040833.983165 s, next control iter: 1743040834.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040834.383165 s.%K~,IP,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075038< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743040834.383292F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@ATO@A]V~? A>A:%"AA1(iNA"AZAbAjArAzAAA._MA~11sAt@Ad<A ˇ=Ai}A ?A?Ak*A 9?2AOֽ:Ak=BA 9?JAOֽRAk=٘i)I9t@YG JJJJJF&K Y4'U~?y[IAF9)B[[om[rV~?[W![[[[BZYY i) Iie@8= ))yWYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040834.403165 s, next control iter: 1743040834.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14333", header.stamp.nsec: 0"0 temperature: 13.569187"* salinity: 33.375015", density: 1025.000000"* values[0]: 0.576492"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040834.803165 s.yA,K~,gP,AA@AG߄@AV~? AYEA6%"AA8iNA"AZAbAjArAzAAA(AxCsAs@A/P<A1=AwA?A Ai*AY9?2Atֽ:A =BAY9?JAtֽRA =٘i)I9s@YBG JUJJJJF&K YH6U~?yb^IA EF777796B)B/E[[:[\}V~?[5'[[[[BZYY i) I$Ii@kA8= ʂ))ʂʂYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040834.823165 s, next control iter: 1743040835.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040835.223165 s.g3K~,HP,AJ"J*J2J:J?BJ?nJ5vJAz@Aa@ArV~? ALA%"AAcJiNA"AZAbAjArAzAAA#ƻ}*AjsAps@A;A=AVprA@?AA{*A9?2A!ֽ:Ad=BA9?JA!ֽRAd=٘i)I9s@YG JwJJJJF&K Y[EU~?yfjIAF{7j79)B[[Q[V~?[-[[[[BZYY i) &Ii@7= s))ssȼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040835.243165 s, next control iter: 1743040835.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040835.643165 s.u9K~,*P,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075038< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743040835.643282F (some fields omitted in printout)A ףp@Ae@AV~? ASAɑ%"AA\iNA"AZAbAjArAzAAA mA.;asAr@AyAs=A mA?AAN?*A9?2A׽:AY=BA9?JA׽RAY=٘i)I9r@YG JJJJJF&K YpTU~?yqHAFb77r98B)B3E[[Ӏ[V~?[2[[[[BZYY i) D6Ii@07= ,]b)),]b,]bȾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040835.663165 s, next control iter: 1743040836.043175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14334, header.stamp.nsec: 00 temperature: 13.569378* salinity: 33.375015, density: 1025.000000* values[0]: 0.575970F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040836.063165 s.@K~,F Q,AJ"J*J2J:JBJnJvJA33333@A<)&@AkV~? AZAW%"AAwoiNA"AZAbAjArAzAAATboAsAV6r@ANUA=A_gAf?A`[A"*AA9?2A#C׽:A=BAA9?JA#C׽RA=Y@:gyy=xVٓHݱ? A*? ?( ?Ə෾`?)@ I٘i)I96r@YjG JJ;JJJF&KHx> YeU~?yxIHAgF7{7=9)B[[{C}[V~?[v8[[[[BZYY i) EIi@6= P))PP~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040836.103165 s, next control iter: 1743040836.463176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743040836.483165 s.u_GK~,Q,AA\h@A^9[@AV~? AaA{~%"AAiNA"AZAbAjArAzAAA!AZ2sAq@A1_Aw=AB{bA9?A A֙*A9?2A(׽:Az=BA9?JA(׽RAz=٘i)I9q@Y#G JJJJJF&K YJwU~?yGAF779)B6E[[x[ЫV~?[>[[[[BZYY i) |$UIiӍ@5= 4?))4?4?ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040836.503165 s, next control iter: 1743040836.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14335, header.stamp.nsec: 00 temperature: 13.569532* salinity: 33.375023, density: 1025.000000* values[0]: 0.575462F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040836.903165 s.MK~,9Q,AJ"J*J2J:JQ?BJQ?nJy5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075038< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743040836.903321F (some fields omitted in printout)AQ@A3p@A>V~? AhAA%"AA^iNA"AZAbAjArAzAAAJO*ZA(Jq!sAIq@A^AWh=Ad]A?A@A *Aa9?2AKֽ:A=BAa9?JAKֽRA=٘i)I9Iq@YG JB=JJJJF&K YU~?yGAF7)79)B[[Ost[?V~?[C[[[[BZYY i$) ĖdIi5@4= Ѝ-))Ѝ-Ѝ- ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040836.943165 s, next control iter: 1743040837.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040837.323165 s.uTK~,!TQ,AAGz@A"n@AR W~? A\oAq%"AAViNA"AZAbAjArAzAAA{&AjFsAWp@ArY;A=A}`XA`|?A` A*Ae9?2Axֽ:AY =BAe9?JAxֽRAY =٘i)I9p@YG JC=JJJJF&K Y$U~?y.GAF{7j799B)B9E[[p[V~?[/I[[[[BZYY i) tIiƌ@m14= )) ˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040837.363165 s, next control iter: 1743040837.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14336*, header.stamp.nsec: 0*0 temperature: 13.569708** salinity: 33.375042*, density: 1025.000000** values[0]: 0.574950*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040837.743165 s.W[K~,ioQ,AJ"J*J2J:JBJnJvJAףp= @Am2@AW~? AvA%"AAiNA"AZAbAjArAzAAA{A)w$^sAGp@A*7C<A=ASSA 5?AWAR*AJ9?2A:ֽ:A=BAJ9?JA:ֽRA=٘i)I9Gp@Y=G JJJJJF&K YU~?yFAFb77h9:B)B:E[[?k[V~?[N[[[[BZYY i) Ii@3= 1 ))1 1 %ΪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743040837.763165 s, next control iter: 1743040838.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040838.163165 s.z}bK~,qQ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084055< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743040838.163304F (some fields omitted in printout)A@@An2@A&W~? A|Ak%"AADiNA"AZAbAjArAzAAAT+3A'fsAo@A^i<A=A(NAa?AA=u*Aų9?2A?ֽ:A]=BAų9?JA?ֽRA]=YhP@My=^j<ٓH"?@3?`$?g+?A 6?`v?)hP@ I٘i)I9o@YG JXJb<JJJF&Kx> Y(U~?yٚiFAMF{7{729;B)B=E[[/5g[bV~?[S[[[[BZYY i) IIi`@sg2= *))**yѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040838.183165 s, next control iter: 1743040838.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040838.583165 s.hK~, SQ,AJ"J*J2J:J?BJ?nJA5vJA)\u@AQ,h@A)6W~? A/A%"AA7iNA"AZAbAjArAzAAA[;_A`sA5o@A<AC=ARHA &?A`A'*A_9?2A@ֽ:A=BA_9?JA@ֽRA=٘i)I95o@YG JFJJJJF&K YU~?y0FAFŧ7b79|A*AG9?2Aֽ:AJ=BAG9?JAֽRAJ=I٘i)I9n@YBG JOJJJJF&K YTU~?yEAF{7j79)ƯB[[\^[V~?[^[[[[BZYY i) fIi@f*0= e))eez٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040839.023165 s, next control iter: 1743040839.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040839.423165 s.uvK~,Q,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084055< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743040839.423282F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@A}$%=@A/VW~? A菫A%"AAjNA"AZAbAjArAzAAA|yпALx$sAn@AY'AZ=A >A?A z.A*Au9?2A0׽:AP=BAu9?JA0׽RAP=٘i)I9n@YG JJJJJ F&K YU~?y߭6EAF779)˯BCE[[Y[Q W~?[c[[[[BZYY i) ~Ii@f/=  ↽)) ↽ ↽ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040839.443165 s, next control iter: 1743040839.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14338, header.stamp.nsec: 00 temperature: 13.570048* salinity: 33.375065, density: 1025.000000* values[0]: 0.573764F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040839.843165 s.|K~,Q,AAp= @AO @AfW~? AAv%"AA7jNA"AZAbAjArAzAAAv*IꮿANsAm@AiA=A8A@h?A AQ*A9?2A4׽:A+=BA9?JA4׽RA+=٘i)I9m@YG JJJJJ!F&K Y V~?y6DAFŧ77]9>B)ѯBDE[[yU[W~?[h[[[[BZYY i) Ii@4.= F))FF@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040839.883165 s, next control iter: 1743040840.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743040840.263165 s.K~,R,AJ"J*J2J:JBJnJvJAL@A?@AwW~? A6A%"AAlQjNA"AZAbAjArAzAAAM F?At sA\l@A0Aݧ=Aǚ3A?AA粼*Aқ9?2A(ֽ:Aً=BAқ9?JA(ֽRAً=Y,@3y3ۧ=1ٓH`W??`ɱ?p?ئ`c#@?),@ I٘i)I9l@Y>G JtJ7<JJJ#F&Kx> Y #V~?y湪_DA3F7(9)֯BGE[[ Q[&W~?[m[[[[BZYY i) ߮IiO@2-= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040840.283165 s, next control iter: 1743040840.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 143392, header.stamp.nsec: 020 temperature: 13.5702642* salinity: 33.3750762, density: 1025.0000002* values[0]: 0.5731732F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040840.683165 s.lK~,g+R,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084055< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743040840.683268F (some fields omitted in printout)A(\@AmWu@AJW~? A3Av%"AAkjNA"AZAbAjArAzAAAQC?ANsAel@AY պAƪ=A8.AR?A=A*A$9?2A[ֽ:Aa=BA$9?JA[ֽRAa=٘i)I9el@YG JJJJJ$F&K Y8V~?yCAFZ7Z79?B)ܯBJE[[3L[5W~?[r[[[[BZYY i) 8Ii.@m+= c))ccYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743040840.683165 s, next control iter: 1743040841.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743040841.103165 s.K~,FR,AJ"J*J2J:JBJnJvJAQ@APoF@AW~? AA~%"AA1jNA"AZAbAjArAzAAAw?A-@tAk@A% <A+=A)Aj@?A"Aż*A9?2A 'ֽ:A=BA9?JA 'ֽRA=٘i)I9k@Y}G JJJJJ%F&K YNV~?yDŪ~CAF779)B[[W*H[WEW~?[w[[[[BZYY i) Ii<@`*= e;))e;e;YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040841.123165 s, next control iter: 1743040841.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040841.523165 s.K~,|aR,AAHz@A؀@AJW~? A׭A%"AAqjNA"AZAbAjArAzAAAs*ݦ?A` jtAk@Atf<A =A$A`p?A@)Ai̼*A99?2Aֽ:A=BA99?JAֽRA=٘i)I9k@YG J3ɼJJJJ'F&K YcV~?yʪ CAF77{79@B)BME[[GC[UW~?[q|[[[[BZYY i) ļIi{@I)= <))<<tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040841.543165 s, next control iter: 1743040841.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14340, header.stamp.nsec: 00 temperature: 13.570487* salinity: 33.375061, density: 1025.000000* values[0]: 0.572489F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040841.943165 s.]dK~,W]|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: -0.084055< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743040841.943301F (some fields omitted in printout)Aq= #@AL@AٿW~? A~A%3%"AACjNA"AZAbAjArAzAAA2-5?A?GtAOmj@AJ<A,=A9DA`?A=A]ϼ*A9?2Ag7ֽ:A6C=BA9?JAg7ֽRA6C=٘i)I9mj@YG J.μB=JJJJ(F&K Y1yV~?yЪBAF777R9BB)BRE[[_9?[4eW~?[+[[[[BZYY i) G̼Ii@V(= g=))g=g=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040841.983165 s, next control iter: 1743040842.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040842.363165 s.K~,>R,AAY@A!:L@AW~? AA%"AAjNA"AZAbAjArAzAAA_[q}?A= tAi@Aɑ;A=AA@??A߿A=μ*AǍ9?2A4ֽ:A==BAǍ9?JA4ֽRA==YӮ@?y%=;ٓH@L??r?5d? @5p?U?)Ӯ@ I٘i)I9i@YCG JϼC=Jk/<JJJ)F&K1x> YuV~?yժ%BAF779)BUE[[:[nuW~?[ƅ[[[[BZYY i) xӼIip@&= d=))d=d=gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040842.383165 s, next control iter: 1743040842.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14341&, header.stamp.nsec: 0&0 temperature: 13.570718&* salinity: 33.375080&, density: 1025.000000&* values[0]: 0.571729&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040842.783165 s.YK~,R,AJ"J*J2J:J\?BJ\?nJx5vJA(\@AP@AW~? AnAZ%"AAjNA"AZAbAjArAzAAA9{S%?Ak^#tAi@A˻A6ޱ=ADmA ǒ?A`(߿Abͼ*Aԋ9?2ACֽ:A=BAԋ9?JACֽRA=٘i)I9i@Y G JoμJJJJ+F&K YV~?yڪAAFj7{79)B[[P6[W~?[O[[[[BZYY i) #ڼIi(@R%= =))==~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040842.803165 s, next control iter: 1743040843.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040843.203165 s.K~,R,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084055< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743040843.203287F (some fields omitted in printout)AQ@A:W@AW~? AëA%"AAkNA"AZAbAjArAzAAAiB-?AtA,eh@A/YAb=A7A z?AS޿Aaͼ*A9?2A$׽:A=BA9?JA$׽RA=٘i)I9eh@Yp G J:ͼJJJJ,F&K YV~?yߪ8AAFb779CB)BXE[[1[ݖW~?[Ŏ[[[[BZYY iZ) Ii@&#=  ҹ=)) ҹ= ҹ=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040843.223165 s, next control iter: 1743040843.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040843.623165 s.WK~,]R,AJ"J*J2J:J,?BJ,?nJE5vJAG@A@A X~? AȫA%"AA2kNA"AZAbAjArAzAAA נ?A΄htAg@A*[A=A Ay1?AݿAϼ*A69?2A׽:A!=BA69?JA׽RA!=٘i)I9g@Y G JμJJJJ-F&K YDV~?y@AF77}9)B[E[[{V-[ W~?[([[[[ZZ¸BZYY i¸m~=) wռIiK~@"= =))==YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040843.643165 s, next control iter: 1743040844.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14342 , header.stamp.nsec: 0 0 temperature: 13.570968 * salinity: 33.375099 , density: 1025.000000 * values[0]: 0.570987 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040844.043165 s.K~,S,AA= ף0@A辜#@A"X~? AͫA(%"AAPkNA"AZAbAjArAzAAA)$zr@@A|7tAg@AyһAԴ=A Ah|?A ܿAҼ*A9?2A<ֽ:A[B=BA9?JA<ֽRA[B=٘i)I9g@Y G JzмB=JJJJ/F&K YV~?y~J@AF777H9) B[[([W~?[u[[[[ZZBZYY i) ɼIi|@L!=  >)) > >qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040844.083165 s, next control iter: 1743040844.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040844.463165 s.XK~,S,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082761< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743040844.463289F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@AI[Y@A6X~? AҫA%"AAokNA"AZAbAjArAzAAANQ 5@A itAAf@A҂~;AY?=AϨA?A6ܿA*A9?2A@ֽ:Ad<BA9?JA@ֽRAd YPW~?y?A}F77{79DB)B^E[[Y$[W~?[[[[[ZZBZYY i) V Iiy@= >))>>y=))$>$>yQG=WѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040844.903165 s, next control iter: 1743040845.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040845.303165 s.SK~,jgSS,AJ"J*J2J:JBJnJvJA@AQ1@A`X~? A4ܫAn %"AAkNA"AZAbAjArAzAAAt4@ACF tA!d@AA^<A%Kq=A/AO?A`ڿA*A9?2A/ֽ:AHo<BA9?JA/ֽRAHo<٘i)I9d@Y G JfJJJJ3F&K Y7W~?y>AF779)"BeE[[7U[))6>6>-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040845.323165 s, next control iter: 1743040845.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14344., header.stamp.nsec: 0.0 temperature: 13.571490.* salinity: 33.375130., density: 1025.000000.* values[0]: 0.569308.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040845.723165 s.K~,HnS,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082761< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200772 time: 1743040845.723336F (some fields omitted in printout)Az@A#H@A\vX~? AA%"AAekNA"AZAbAjArAzAAAU> @Amʵu#tAYc@A:;Ap,=AA?ASٿAKμ*AZ9?2A(Mֽ:AP;BAZ9?JA(MֽRAP;٘i)I9c@Y G JnB=JJJJ4F&K YPW~?yTy>AF777s9GB))BhE[[k[X~?[[[[[ZZBZYY i) ))I>I>orYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040845.743165 s, next control iter: 1743040846.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040846.143165 s.V/K~,*S,AJ"J*J2J:J?BJ?nJ5vJA ףp=@Ad0@A2X~? AA]]%"AA@kNA"AZAbAjArAzAAAOڪCQP @AP&tA+c@Ad+Aw<A־A?A6ؿA,*A|9?2AoOֽ:ABA|9?JAoOֽRA٘i)I9+c@YB G J(C=JJJJ5F&K YfiW~?y>AFb7b7=9).B[[>[X~?[[[[[ZZBZYY i) ~MIiep@j= @E[>))@E[>@E[>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040846.163165 s, next control iter: 1743040846.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040846.563165 s.K~,g S,AA3333s@A4*f@ARX~? AMAM %"AAlNA"AZAbAjArAzAAA!h @AX˴(tAɰb@ABA6<A˾AA?Aq)ؿAp*AK9?2A6ֽ:A$BAK9?JA6ֽRA$Y$Q@Q˾y`4<*BٓH??ۿ?gؿ?@/?B'?)$Q@ I٘i)I9b@Y G J@Jd:JJJ7F&Ksv> YW~?y=A˾Fŧ79)2BkE[[ [y'X~?[=[[[[ZZBZYY i =) wIil@N= pem>))pem>pem>OYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040846.603165 s, next control iter: 1743040846.963184 s, wait time: 0.360019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14345, header.stamp.nsec: 00 temperature: 13.571730* salinity: 33.375122, density: 1025.000000* values[0]: 0.568540F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040846.983165 s.K~,S,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064027< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743040846.983282F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@A@AX~? AdA%"AAE3lNA"AZAbAjArAzAAAE4@AoA3+tA!Zb@ARFxAAAWA@V?AjX׿A*A9?2A%ֽ:ABA9?JA%ֽRA٘i)I9Zb@Y G J]NJJJJ8F&K YW~?ya=AFZ7Z7 9HB)5BnE[[k( [:X~?[߲[[[[ZZBZYY is9=) GuIii@-= >))>>)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040847.003165 s, next control iter: 1743040847.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040847.403165 s.&K~,S,AAQ@AHG@AbX~? AWATi%"AAgUlNA"AZAbAjArAzAAAi@ASȜ-tA&b@A_0A'ݭAwA?A@ֿA*A9?2A>ֽ:ABA9?JA>ֽRA٘i)I9&b@Y G JJJJJ9F&K YW~?y=AFb77 9)7BqE[[S[@NX~?[k[[[[ZZBZYY i) aIif@4= >))>>;)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040847.423165 s, next control iter: 1743040847.803177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14346, header.stamp.nsec: 00 temperature: 13.571824* salinity: 33.375145, density: 1025.000000* values[0]: 0.568158F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040847.823165 s.K~,WS,AJ"J*J2J:JBJnJvJAGz@Aqn@AOX~? A$A%"AAwlNA"AZAbAjArAzAAA@A./tAb@AG |A AhA?A`տAH*A9?2Ajֽ:A˼BA9?JAjֽRA˼٘i)I9b@Y G JC>JJJJ;F&K YW~?y8 =AFb7h 9)8BtE[[[bX~?[ݹ[[[[BZYY i) =MIid@J= 1)>))1)>1)>yS=4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040847.843165 s, next control iter: 1743040848.223183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743040848.243165 s.K~,qT,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074328< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743040848.243286F (some fields omitted in printout)Aףp=J@A2=@A{X~? AA%"AAۚlNA"AZAbAjArAzAAAy}@A*2tAb@AU<A2AȡA?A\ԿAH?;*A@9?2Aֽ:ABA@9?JAֽRA㼙٘i)I9b@Y G JXc:JJJJ<F&K YW~?y=AF)739RB)AB[[[-vX~?[7[[[[BZYY i) H:Iib@= d>))d>d>:p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040848.263165 s, next control iter: 1743040848.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040848.663165 s.J "J *J 2J :J r?BJ r?nJ 5vJ  K~,q*T,AtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14347, header.stamp.nsec: 00 temperature: 13.571740* salinity: 33.375141, density: 1025.000000* values[0]: 0.568148F (some fields omitted in printout)A@Awr@AY~? AOAu%"AA$lNA"AZAbAjArAzAAA>!@AࡔN4tA 8b@Aoh<AXA[:Aj;?A@ӿA;*A9?2A2ֽ:AZxBA9?JA2ֽRAZxY@͜y+X0h<ٓH??'`Rҿu?\^? ? ? ?)@ I٘i)I98b@Y G JL;JJJJ=F&K(x> YX~?y6>AF7{79SB)xE[[%[AX~?[k[[[[BZYY i g=) )Ii^@= >))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040848.683165 s, next control iter: 1743040849.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040849.083165 s.SEK~,TET,AA)\µ@A)x @A,Y~? AABK%"AAlNA"AZAbAjArAzAAAㄐ@@A \6tATpb@A\i><AyA(⌾A@m?A }ӿA->'<*A9?2Aֽ:A"BA9?JAֽRA"٘i)I9pb@Y G J<JJJJ?F&K Y!X~?y^>AF)7ŧ79)@B{E[[f[X~?[ê[[[[BZYY i) HIih[@k = ɸ>))ɸ>ɸ>k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040849.103165 s, next control iter: 1743040849.483268 s, wait time: 0.380103 s rAdjusting time to match Gazebo time: 1743040849.503165 s.J "J *J 2J :J y?BJ y?nJ 5vJ K~,Y4`T,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056406< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198692 time: 1743040849.503285F (some fields omitted in printout)AR@ATގ@A`DY~? AA %"AAmNA"AZAbAjArAzAAAїa@AxQ8tAb@A[7;AAĂAٝ?A6ҿAj<*AA9?2AYֽ:A% BAA9?JAYֽRA% ٘i)I9b@Y G JF<B=JJJJ@F&K Y=X~?y\>AF77{79)=B~E[[%۾[VX~?[ƪ[[[[BZYY i ]y=) X Ii bX@ | = >)) > > ۹*YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743040849.523165 s, next control iter: 1743040849.903180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14348, header.stamp.nsec: 00 temperature: 13.571551* salinity: 33.375164, density: 1025.000000* values[0]: 0.568417F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040849.923165 s.:K~,{T,AA{G!@A.;?@Am\Y~? AA%"AA*mNA"AZAbAjArAzAAAgx@AJK0:tA0c@A?An^AyqA?A#XѿA<*A9?2Aֽ:A;BA9?JAֽRA;٘i)I90c@YE G Jҁ<C=JJJJAF&K YXX~?y>AF7^9TB):BE[[Ѿ[AX~?[sɪ[[[[BZYY i) x IiU@= -@>))-@>-@>ykg=r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040849.963165 s, next control iter: 1743040850.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040850.343165 s.<%K~,T,AJ"J*J2J:J?BJ?nJ5vJAp= W@AI@AtY~? AA%"AANmNA"AZAbAjArAzAAA#7W@A?pfD;tA|c@AeA͠A$]AO?A`vпAB<*A9?2A2ս:ANBA9?JA2սRAN٘i)I9c@Y G J&<JJJJCF&K Y sX~?y8?AF7777(9)6BE[[Ⱦ[rX~?[?̪[[[[BZYY i) ѻIiS@^= >))>>y =*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040850.363165 s, next control iter: 1743040850.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14349*, header.stamp.nsec: 0*0 temperature: 13.571246** salinity: 33.375183*, density: 1025.000000** values[0]: 0.568985*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040850.763165 s.6+K~,ذT,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065661< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743040850.763275F (some fields omitted in printout)Ǎ@A @AY~? A A[%"AA{smNA"AZAbAjArAzAAA/@A#f]i=tAo9d@AމWA)͙AL=HA2!?A#ϿA~<*A9?2Aֽ:ABA9?JAֽRAYһ@9Gyə%XٓHN? Z?D0;ȿ-c??@4? 4?)һ@ I٘i)I99d@Y G J,<B=JvXJJJDF&Kw> YՎX~?y4?A9GF779)2B[[S[X~?[Ϊ[[[[BZYY i) ZIiO@== 1>))1>1>L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040850.783165 s, next control iter: 1743040851.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040851.183165 s.2K~,cT,AJ"J*J2J:J?BJ?nJ5vJA(\@AoK䂵@AY~? A8A '%"AAmNA"AZAbAjArAzAAAwOk7@AXS=?tAd@A&AFAA2A@2I?ARͿA<*AH9?2A|uֽ:A* BAH9?JA|uֽRA* ٘i)I9d@Y> G J<C=JJJJEF&K YX~?y@AF77{79)-BE[[ [Y~?[rѪ[[[[BZYY i) 24IiK@z= >))>>o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040851.203165 s, next control iter: 1743040851.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040851.603165 s.749K~,T,AAQ@AfF@A|Y~? AA%"AA mNA"AZAbAjArAzAAAhѱ*@A @tAZe@AY;AӕAnAo?Az˿A<*A9?2Aֽ:AO BA9?JAֽRAO ٘i)I9Ze@Y G J<B=JJJJGF&K Y))j>j>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040851.623165 s, next control iter: 1743040852.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14350 , header.stamp.nsec: 0 0 temperature: 13.570871 * salinity: 33.375183 , density: 1025.000000 * values[0]: 0.569731 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040852.023165 s.Z@K~,|U,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065661< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743040852.023285F (some fields omitted in printout)AHz.@A8 !@AlY~? AAC%"AAmNA"AZAbAjArAzAAA2M!Y@A0 !BtA=e@AZU<AA;A[?AŠɿAݪ<*A9?2A׽:ABA9?JA׽RA٘i)I9e@Y G J<C=JJJJHF&K YX~?yO#@AF77S9)$BE[[)R[3Y~?[7֪[[[[BZYY i)  1IiE@K&< >))>>W*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040852.043165 s, next control iter: 1743040852.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040852.443165 s.8FK~,B]U,AAq= c@ALV@AY~? AA%"AA nNA"AZAbAjArAzAAAV(J@Af&mCtAyf@AZf<AJAkA?A gǿA:<*A49?2Aֽ:ABA49?JAֽRA٘i)I9yf@YE G J <JJJJIF&K YX~?y%=AAF7{7!9) BE[[M䙾[IY~?[nت[[[[BZYY i) =IiNC@< i;>))i;>i;>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040852.463165 s, next control iter: 1743040852.843180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14351, header.stamp.nsec: 00 temperature: 13.570475* salinity: 33.375198, density: 1025.000000* values[0]: 0.570508F (some fields omitted in printout)X~?)% rAdjusting time to match Gazebo time: 1743040852.863165 s.+MK~,>7U,AJ"J*J2J:J ?BJ ?nJ%5vJA@Aɍ@A Z~? A As%"AA/nNA"AZAbAjArAzAAAjC# @A˔QDtAI g@A 8;AAؼA?AſAr<*AX9?2Aֽ:A BAX9?JAֽRA Y@y͖;ٓH"?`S?'@?H`U?f??)@ I٘i)I9 g@Y G J<J:JJJKF&Kx> YY~?y%AAF77"9)BE[[[_Y~?[~ڪ[[[[BZYY i) xcIi?@{< ~?))L~?~?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040852.903165 s, next control iter: 1743040853.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040853.283165 s.9RTK~,RU,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.249316> elevatorAngleAction: 0.065661< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743040853.283332F (some fields omitted in printout)A(\@ABO@A#Z~? AAN%"AAVnNA"AZAbAjArAzAAAm;w @A&)EtAdg@A9,2AAm”A.?A`ĿA<*Ab9?2A]ֽ:AQBAb9?JA]ֽRAQ٘i)I9g@Y G J<JJJJLF&K Y5Y~?y& BAF777$9)BE[[([/vY~?[rܪ[[[[BZYY i)  _8Ii:;@צ< {?)) {?{?K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040853.303165 s, next control iter: 1743040853.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14352., header.stamp.nsec: 0.0 temperature: 13.570069.* salinity: 33.375210., density: 1025.000000.* values[0]: 0.571281.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040853.703165 s.׺ZK~,mU,AJ"J*J2J:JBJnJvJAQ@A_@AA*AZA 0?Ax6¿Ab<*A9?2Aս:AzBA9?JAսRAz٘i)I9/h@YP G JM<B=JJJJNF&K YQY~?yu'pBAF{7~&9SB)BE[[b{[͌Y~?[Hު[[[[BZYY i) :Ii7@8< V7 ?))V7 ?V7 ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040853.723165 s, next control iter: 1743040854.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040854.123165 s.9aK~,eU,AAG:@AX<-@AVZ~? AA %"AA-nNA"AZAbAjArAzAAA1녴!@Az^GtA(h@A kAcALA@?A LdAK(<*A9?2A}?ս:A`@BA9?JA}?սRA`@٘i)I9h@Y G Jc<C=JJJJOF&K YnY~?yF(BAF7H(9) B[[ ^h[Y~?[ߪ[[[[BZYY i) x:Ii4@M< X?))X?X?6*Y-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040854.143165 s, next control iter: 1743040854.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040854.543165 s.IhK~,âU,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065661< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743040854.543288F (some fields omitted in printout)A= ףp@Ac@AoZ~? AXA6%"AAnNA"AZAbAjArAzAAAzs?H"@AP'xHtA|Pi@AA]A2SA 2?A`WAV<*A9?2Anս:A$nBA9?JAnսRA$nI٘i)I9Pi@Y G Jx<JJJJPF&K Y3Y~?y)=CAFZ7SI7*9) BE[[{?U[Y~?[[[[[BZYY i) 8;Ii2@t< ?))??E*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040854.563165 s, next control iter: 1743040854.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14353, header.stamp.nsec: 00 temperature: 13.569671* salinity: 33.375217, density: 1025.000000* values[0]: 0.572034F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040854.963165 s.znK~,U,AAffff@AI[@AZ~? AA%"AAnNA"AZAbAjArAzAAAjZ"@As`/ItA0i@A9AЋA><A MD?A GAa<*A9?2A-ֽ:AuBA9?JA-ֽRAuYN@Ap YuY~?y)CAp<FZ7+9)BE[[OB[Y~?[[[[[BZYY i|=) hv;Ii-@<< {?))|{?{?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040854.983165 s, next control iter: 1743040855.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040855.383165 s.uK~,4U,AJ"J*J2J:JBJnJvJA(@A @AQZ~? AA%%"AAoNA"AZAbAjArAzAAA#@AItA~Xj@A@7$<AەA<AT?AvAeD<*A9?2Aֽ:AbBA9?JAֽRAb򼙘٘i)I9Xj@YG JØ<C=JJJJSF&K YY~?y(CAF{7j7-9)BE[[K>/[Y~?[W[[[[BZYY i) 3F;Ii)@< H@?)) H@?H@?}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040855.403165 s, next control iter: 1743040855.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14354&, header.stamp.nsec: 0&0 temperature: 13.569294&* salinity: 33.375248&, density: 1025.000000&* values[0]: 0.572775&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040855.803165 s.wA|K~,{gU,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743040855.803302F (some fields omitted in printout)A @A @A3Z~? A^ A%"AA0?oNA"AZAbAjArAzAAA!$@AޞPJtAj@Am<ATAI=Ac?A ؊A0<*A9?2AVս:ABA9?JAVսRA򼙘٘i)I9j@YG J<JJJJTF&K YY~?y(VDAFb77s/9)BE[[ [Z~?[[[[[BZYY i) Q/;Ii%@s<  "?)) "? "?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040855.823165 s, next control iter: 1743040856.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040856.223165 s.gK~,HV,AJ"J*J2J:JBJnJvJAzG @A3: @A$Z~? A !A%"AAvfoNA"AZAbAjArAzAAA2)$@A6.JtAGk@A:<AoXA =Al?ACA\<*A9?2AWս:AI7BA9?JAWսRAI7٘i)I9Gk@Y1G J<JJJJVF&K Y0Y~?y(DAF77{7>19RB)BE[[K[Z~?[[[[[BZYY i) ,;Ii"@R< &?))&?&?yX=*YvYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040856.243165 s, next control iter: 1743040856.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040856.643165 s.|ЉK~, *)V,AA ףp} @A+dp @AZ~? A!A%"AA͍oNA"AZAbAjArAzAAAKʮX%@Ax KtAk@A ;A"A.=Ast?AOA/ۍ<*AE9?2ACս:APBAE9?JACսRAP٘i)I9k@YyG J<JJJJWF&K YoZ~?y(EAFj7j739)BE[[6[/Z~?[[[[[BZYY i) ;Ii@ܴ< +?))+?+?*YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743040856.663165 s, next control iter: 1743040857.043181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14355, header.stamp.nsec: 00 temperature: 13.568929* salinity: 33.375248, density: 1025.000000* values[0]: 0.573431F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040857.063165 s.K~,g DV,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743040857.063278F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333 @A ' @A [~? A!AF%"AA0oNA"AZAbAjArAzAAAf[p^%@AxAYDKtA5l@AwAUAN=Ay?AA<*AF9?2A:ս:A}yBAF9?JA:սRA}yY؄@=yTٓH`W?fn? ?H?@6G?厀@ ?)؄@ I٘i)I95l@YG Jl<J?:JJJXF&Kt> Y3Z~?y'oEA=Fb7b749)BE[[F2Ľ[GZ~?[J[[[[BZYY i)  A]|?A؂A,<*A-9?2A$_ս:AlBA-9?JA$_սRAl٘i)I9l@YG Jj<JJJJZF&K YOZ~?y&EAF77j769)B[[y[^Z~?[[[[[BZYY i) A`~?A s?A<*A9?2A$Խ:ABA9?JA$ԽRA٘i)I9.m@YZG J<JJJJ[F&K YkZ~?y%)FAF{7h89QB)BE[[l[vZ~?[p[[[[BZYY i) * elevatorAngleAction: 0.074706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743040858.323253F (some fields omitted in printout)AGzT @ACr2qG @A7Y[~? A "A%"AA+pNA"AZAbAjArAzAAA '@ATKtA$m@AAA}A2,>A }?Aœ?Ah<*A9?2AԽ:ABA9?JAԽRA٘i)I9m@YG J^<JJJJ\F&K YƇZ~?y$FAFb7b73:9)BE[[Lq[Z~?[[[[[BZYY i) 9Ax?A`pq?A<*A9?2Ayս:A}BA9?JAyսRA}٘i)I9(n@YG J<JJJJ^F&K YۣZ~?y#FAF77j7;9PB)߯BE[[[wZ~?[[[[[BZYY i) 8IAq?A@ ?A<*A9?2A,ս:AXBA9?JA,սRAXY@hU>yU Y<ٓH9?ʿ@#x? K?@rs=?@,?t?)@ I٘i)I9n@Y=G J[<JJJJ_F&Kt> Y|Z~?y%"EGAU>FZ7Z7=9)ۯBE[[u[Z~?[[[[[BZYY i) IX elevatorAngleAction: 0.074706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743040859.583292F (some fields omitted in printout)A)\ @A @A3[~? A A9%"AAšpNA"AZAbAjArAzAAAN!pè)@A'LpJtA,o@A`<AA]k>Ah?A N?AZ<*A9?2A\'ֽ:AhqBA9?JA\'ֽRAhq٘i)I9o@YG J͓<JJJJ`F&K YZ~?yR GAF77{7?9OB)֯BE[[is<[Z~?[[[[[BZYY i'=) gA]?A`5?A6w<*AH:?2AJԽ:A BAH:?JAJԽRA ٘i)I9o@YG J<JJJJbF&K YZ~?y HAFb77^A9)үBE[[=[HZ~?[[[[[BZYY i) vAO?AWͷ?Ab<*A9?2A8Խ:A BA9?JA8ԽRA ٘i)I9$p@Y(G J<JJJJcF&K Y^[~?ykHAFj7Z7)C9NB)ͯBùE[[Kl=[[~?[q[[[[BZYY i) 7 elevatorAngleAction: 0.083572< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743040860.843303F (some fields omitted in printout)Ap= @Ax{ @A[~? AA %"AAqNA"AZAbAjArAzAAA=V?+@AeHtAp@A-FAA)[>A{??Ao?A<*Am9?2A`Խ:A5BAm9?JA`ԽRA5٘i)I9p@Y|G JJ<B=JJJYFJdF&K Y.[~?yHAFb77D9)ɯB[[M=[![~?[[[[[BZYY i) &qNA"AZAbAjArAzAAA>>,@AZHtAB=q@AlAr A>A f,?A@?A<*Ah9?2AԽ:A8nBAh9?JAԽRA8nY='3>yDlٓH@e?ndӿͳ@g?}?``??)= I٘i)I9=q@YG J<C=J.QJJJfF&K:t> YH[~?y+6IA3>FF9)įBƹE[[=[9[~?[B[[[[BZYY i) =9A?A}l?A<*A9?2Awս:ABA9?JAwսRA٘i)I9q@Y+G J <JJJJgF&K Yc[~?y~IAF777H9MB)BɹE[[J=[R[~?[p[[[[BZYY i) ^ elevatorAngleAction: 0.083572< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743040862.103327F (some fields omitted in printout)AQ8 @Ay H+ @AA\~? AA%"AAFqNA"AZAbAjArAzAAA3$VQ-@A~T/FtA`r@Ag:AAQڲ>A`?A Dc?Ao&<*A9?2ACԽ:A'BA9?JACԽRA'٘i)I9`r@YG J<B=JJJJhF&K Y~[~?y JAFb77SJ9LB)B̹E[[& >[=k[~?[w[[[[BZYY i) 8A?Aj4?A <*A9?2A Խ:AttBA9?JA ԽRAtt٘i)I9r@YG J<C=JJJJjF&K Y[~?y#sJAF{7{7L9)BϹE[[ q>[[~?[T[[[[BZYY i) ٶ̖ @Ast\~? AA_%"AAbqNA"AZAbAjArAzAAA4dR.@ACtAs@A{[m<AMrA>A?A?AIJ<*A9?2AG8ս:A{BA9?JAG8սRA{٘i)I9s@Y8G J<JJJJkF&K Yy[~?yv JAFb7b7M9IB)BѹE[[3>[[~?[[[[[BZYY i) 7W,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083572< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743040863.363286F (some fields omitted in printout)A @Aɍ @A\~? AA%"AAqNA"AZAbAjArAzAAAS6/@ABtA2 t@AW1<A(A>A ?A`?Al<*A9?2A`ս:ABA9?JA`սRAYB>q>yb&2<ٓH -B?ٿa L^?`X?d@>?@ I٘i)I9 t@YG J<JyJJJlF&K t> Y[[~?y NKAq>Fŧ7O9)B[[ H>[`[~?[[[[[BZYY i) TA`?A?A7<*A9?2A_Xս:ABA9?JA_XսRA٘i)I9t@YG Jr<B=JJJJnF&K Y@[~?yvKAFj7Z7~Q9HB)BԹE[[j\>[[~?[[[[[BZYY i) ۾A@ f?AIz?AuK<*A:?2A`ӽ:AoBA:?JA`ӽRAo٘i)I9fu@Y[G J<C=JJJJoF&K Y"\~?y3LA F7{7IS9GB)B׹E[[]p>[[~?[=ߪ[[[[BZYY i) {- elevatorAngleAction: 0.0835722J< massPositionAction: 0.000000:JBJ4 buoyancyAction: 0.000500nJ dt: 0.420016vJ2 time: 1743040864.623299F (some fields omitted in printout)AGz @Am @AW\~? A A| %"AA?qrNA"AZAbAjArAzAAA-q0@AyH+ca>tAlv@AiA߯A)m>AA?A 2?A"<*AA:?2Aӽ:AGBAA:?JAӽRAG٘i)I9v@YG J<<JJJJpF&K Y\~?ywLA F77U9)BڹE[[7̂>[i[~?[Nݪ[[[[BZYY i) uAW?A?A+<*A9?2Ae0Խ:ABA9?JAe0ԽRA٘i)I9v@Y0G J|<JJJJrF&K Y5\~?yMA Fb77V9FB)BݹE[[1>[-\~?[5۪[[[[BZYY ic=) ?A ?A?A <*A9?2Aս:ABA9?JAսRA٘i)I9uw@YG J<JJJJsF&K YO\~?ywMAF7)7X9)B[[>[0\~?[ت[[[[BZYY i) v$ elevatorAngleAction: 0.092475< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743040865.883291F (some fields omitted in printout)A(@A! @A!]~? A]A%"AArNA"AZAbAjArAzAAA.zO1@A_Y)79tAA$x@A,w;AINA?A$?A?A]<*A9?2Aս:ABA9?JAսRA٘i)I9$x@YG J<JJJJtF&K Yi\~?yMAFŧ7b7tZ9EB)BE[[{'>[I\~?[֪[[[[ZZZZ¸>BZYY i¸>o2) ?\9DB)~BE[[>[Nb\~?[Ӫ[[[[ZZZZBZYY i) [[z\~?[Ѫ[[[[ZZZZBZYY i) v[B\~?[.Ϊ[[[[ZZZZBZYY i)  ?y7wkٓH(?V\`g8U?O5?C0? Sm?)h> I٘i)I9<{@YG J<J1\=JJJzF&K> Y\~?yiOA?F77{7a9)fB[[cA>[\~?[&˪[[[[ZZZZBZYY i) J[\~?[Ǫ[[[[ZZZZBZYY i) /B)XBE[[L>[p\~?[Ī[[[[ZZZZBZYY i) ھ3@Ag D)tA+}@AMAAɊ+?AJ?A?AZD<*A%+:?2Aӽ:A<BA%+:?JAӽRA<٘i)I9+}@YG JT<JJJJ~F&K Y]~?y=֪PAF777f9=B)SBE[[;>[\~?[[[[[ZZZZBZYY i) S~[ ]~?[?[[[[ZZZZBZYY i) tehg5?y#O<N9<ٓH`C?`#͗?`?F?@ҙt? ~i5??)A> I٘i)I9}@YtG J<JF>JJJF&KAp> Y@]~?yn˪PA5?F77{7j98B)JBE[[ߡ?[ ]~?[b[[[[ZZZZBZYY iҾr) -UVtNA"AZAbAjArAzAAA ߍ4@A a9#"tA}@APl<A =AL:?A?AK?A:*A :?2AԽ:AQu<BA :?JAԽRAQu<٘i)I9}@YG JmR;JJJJF&K YV]~?yŪPAFj7^l97B)IBE[[M?[7]~?[W[[[[BZYY i {) ED Y]~?y PAlO?"F{7{7s92B)IBE[[ܰ?[7]~?[o[[[[BZYY i|k) ;Ii>.; \`?))z\`?\`?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040871.783165 s, next control iter: 1743040872.163182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040872.183165 s.˂K~,x Z,AJ"J*J2J:Jy?BJy?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.244810@ elevatorAngleAction: -0.057381< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743040872.183298F (some fields omitted in printout)A(\B@A5@Ao^~? AzƫAM%"AA{tNA"AZAbAjArAzAAAnxtD5@A?ptA|@AU6A=AT?A@:(?A@Z?A@郼*A:?2Aս:A=BA:?JAսRA=٘i)I9|@YG JoJJJJF&K Y^]~?yOA#Fb77Tu91B)KBE[[#!?[!]~?[[[[[BZYY i) ;Ii0>DH; ?)) ??iɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040872.203165 s, next control iter: 1743040872.583180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040872.603165 s.94K~,&Z,AAQx@A^EFk@A^~? AFA%"AAtNA"AZAbAjArAzAAATN5@A>ACtAF9|@AIV1AY=AY?A?A@ԡ?A7*A :?2A8\Խ:Aa=BA :?JA8\ԽRAa=٘i)I99|@YG JbJJJJF&K Y]~?yGOOA$F777w9/B)NBE[[&?[]~?[[[[[BZYY i) B;Ii">p_s; ط?))ط?ط?UӪYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743040872.623165 s, next control iter: 1743040873.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14371 , header.stamp.nsec: 0 0 temperature: 13.563487 * salinity: 33.375500 , density: 1025.000000 * values[0]: 0.583689 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040873.023165 s.ZK~,|AZ,AJ"J*J2J:Jl?BJl?nJ5vJAHz@Au@A_^~? AA%"AA uNA"AZAbAjArAzAAA<5μ5@An,v tA{@A50;Aa=A^?A?A Q?A)T*A%:?2AfԽ:A =BA%:?JAfԽRA =٘i)I9{@Y/G JJJJJF&K YP]~?y暪NA&F77x9)RB[[),?[m]~?[I[[[[BZYY i) A֟;Ii>R; ✺?))✺?✺?y[kتYW YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040873.043165 s, next control iter: 1743040873.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040873.443165 s.7ÖK~,>]\Z,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057381< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743040873.443298F (some fields omitted in printout)Aq= @A@A^~? AA%"AA8uNA"AZAbAjArAzAAA/jV I5@AݳӰ tA{@A[<Alڝ=A4c?A=?A`?AgǷ*A*:?2ADԽ:AĒ=BA*:?JADԽRAĒ=٘i)I9{@YG JJJJJF&K Y]~?yNA'F7{7z9.B)UBE[[e1?[]~?[[[[[BZYY imy) u;Ii>@ 7;  e?)) e? e?C٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040873.463165 s, next control iter: 1743040873.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14372, header.stamp.nsec: 00 temperature: 13.563651* salinity: 33.375511, density: 1025.000000* values[0]: 0.583166F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040873.863165 s.+K~,>wZ,AJ"J*J2J:JJ?BJJ?nJ5vJA@Al @A^~? AA%"AAUuNA"AZAbAjArAzAAA<.)06@A?KtA1|z@AL<Acg=Ah?A?AxX?A:*A$/:?2A65ս:A =BA$/:?JA65սRA =Y1?l.i?y?d=M<ٓH`?B`? 5??? (?{?)1? I٘i)I9|z@YtG J J<JJJF&KAu> Y ^~?y.NA.i?(F{7j7|9+B)WBE[[w<7?[q]~?[b[[[[BZYY i) rE;IiW>r) ; )&?))})&?)&?dתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040873.883165 s, next control iter: 1743040874.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040874.283165 s.5RK~,Z,AA(\O@AKUB@A,^~? ADAZ%"AAruNA"AZAbAjArAzAAAP3i6@AeINtA+y@A;Aڙ=AMn?A\?A?A*A/:?2Aս:A=BA/:?JAսRA=٘i)I9y@YG JJJJJF&K Yi^~?yMA*F77{7I~9*B)ZBE[[: 4?)) 4?4?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040874.303165 s, next control iter: 1743040874.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14373., header.stamp.nsec: 0.0 temperature: 13.563812.* salinity: 33.375526., density: 1025.000000.* values[0]: 0.582498.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040874.703165 s.ԺK~,Z,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: -0.066638< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743040874.703280F (some fields omitted in printout)AQ@ADx@A^^~? AxA%"AAuNA"AZAbAjArAzAAA,6@AϡC;JsAKy@A[æA8A=As?A7@A CsAw@AAs=A?A`]?A`?Ap*A?:?2Aֽ:Aө<BA?:?JAֽRAө YP]^~?yGj)LA?/Fb7t9!B)cB E[[NS?[`^~?[Kk[[[[BZYY i) 3кII?ii T?))TkT?T?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040876.003165 s, next control iter: 1743040876.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040876.383165 s.J "J *J 2J :J ?BJ ?nJ 5vJ K~,M[,AA(\@A}:O@AH'_~? A+At%"AAuNA"AZAbAjArAzAAA}q7@AtsAp!w@A2;A=A?A`?AQG?Ab*A>:?2A: ֽ:AP'<BA>:?JA: ֽRAP'<٘i)I9!w@YiG JC=JJJJF&K YHl^~?ybKA0Fj7j7?9)hB[[X?[s^~?[d[[[[BZYY i) b%I{ I?i콉` 3?)) 3?3?pĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040876.403165 s, next control iter: 1743040876.783184 s, wait time: 0.380019 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14375", header.stamp.nsec: 0"0 temperature: 13.564176"* salinity: 33.375546", density: 1025.000000"* values[0]: 0.581306"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040876.803165 s.|AK~,g3[,AA@Aބ@A7_~? AԆA"%"AAvNA"AZAbAjArAzAAA>J7@AֲHsA"v@AX8<AV=A?A\?A`?A*AmK:?2Aս:A@=BAmK:?JAսRA@=٘i)I9v@YG JIJJJJF&K YB{^~?yZ[gKA2F77{7 9B)kBE[[m^?[^~?[,^[[[[BZYY i) bI0 I?i*acں ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040876.823165 s, next control iter: 1743040877.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040877.223165 s.gK~, IN[,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: 0.4200022 time: 1743040877.223316F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@Aޮ@ASG_~? AdA͗%"AA(vNA"AZAbAjArAzAAAt%U=7@AsAv@AAb<A瓊=A&?A&?A :?A>瞼*ApJ:?2AUս:A6F=BApJ:?JAUսRA6F=٘i)I9v@YG JB=JJJJF&K Y>^~?ySKA3F777Ԋ9)oB[[`ld?[ ^~?[ZW[[[[BZYY i) IKI?idW hu?))hu?hu?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040877.243165 s, next control iter: 1743040877.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040877.643165 s.zK~,*i[,AA ףp@A#fy@AV_~? AyAb%"AA@vNA"AZAbAjArAzAAAt8@Ap7˪sAu@A<A=A9ɋ?A &c?A $?A*AH:?2A2ս:AC<BAH:?JA2սRAC<٘i)I9u@YtG JAJJJJF&K Y=^~?yhLJA5F)7ŧ79B)nBE[[4j?[^~?[\P[[[[BZYY i) DI I?i | u! K?)) K? K? PY tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14376 , header.stamp.nsec: 0 0 temperature: 13.564343 * salinity: 33.375530 , density: 1025.000000 * values[0]: 0.580711 F (some fields omitted in printout)FFF] : Waiting for Gazebo time sync: latest Gz time: 1743040877.663165 s, next control iter: 1743040878.043181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040878.063165 s.K~,c [,AJ"J*J2J:J?BJ?nJ5vJA33333@A'&@Ae_~? A9sAۖ%"AAWvNA"AZAbAjArAzAAA3֙P.8@AusAu@AٿA=Ax?A*?Ak?AO*A;F:?2AZlֽ:An|<BA;F:?JAZlֽRAn|7 1?)d? I٘i)I9u@Y'G JC=J4Q>JJJF&Kw>> Y^~?yDJJAx?6Fb77i9)rB[[o?[^~?[RI[[[[BZYY i) ͻII?i!hJ ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040878.103165 s, next control iter: 1743040878.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040878.483165 s.w_K~,[,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077614< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743040878.483310F (some fields omitted in printout)A\h@A%[@A:t_~? AlA0%"AAnvNA"AZAbAjArAzAAA/6t^Z8@AƃsA0t@AA=AX)?A?A@?A=*A~C:?2Ajֽ:A<BA~C:?JAjֽRA<٘i)I9t@YG J|JQ>JJJF&K> Y1^~?y<IA7F777749B)uBE[["u?[M^~?[B[[[[BZYY i) IH?iAgn 0?))0?0?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040878.523165 s, next control iter: 1743040878.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14377, header.stamp.nsec: 00 temperature: 13.564518* salinity: 33.375538, density: 1025.000000* values[0]: 0.580161F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040878.903165 s.K~,͹[,AJ"J*J2J:JBJnJvJAQ@AԲ@AO_~? AeAP%"AAvNA"AZAbAjArAzAAA}8@AmZsA@'t@AdA=A>ϓ?A ?A ?AЄ*A;:?2A׽:AY<BA;:?JA׽RAY<٘i)I9't@YG JB=JJJJF&K Y^~?y4IA9F79)xB[[2{?[^~?[:[[[[BZYY i) IH?iҾ X?))X?X?UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040878.923165 s, next control iter: 1743040879.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040879.323165 s.zK~,6[,AAGz@An@A_~? A^A+#%"AAvNA"AZAbAjArAzAAA;d8@ABA$sA4s@AGK1A$?=Aye?A@+?A0?A*A 4:?2A@ ׽:A[<BA 4:?JA@ ׽RA[<٘i)I9s@YUG JDC=JJJJF&K Y)^~?y,:IA:F{7ɓ9B)yBE[[n?[A^~?[*3[[[[BZYY i) IH?i澉̓ ?))??yߞ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040879.343165 s, next control iter: 1743040879.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14378*, header.stamp.nsec: 0*0 temperature: 13.564653** salinity: 33.375561*, density: 1025.000000** values[0]: 0.579681*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040879.743165 s.J "J *J 2J :J e?BJ e?nJ 5vJ WK~,y[,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077614< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743040879.743286F (some fields omitted in printout)Aףp= @A&2@A_~? AWA%"AAvNA"AZAbAjArAzAAAtkW8@A6sA Y}^~?yHA?=Fb77_9)~B[[Ή?[ _~?[#[[[[BZYY i) +4IH?i 5 I?))I?I?pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040880.183165 s, next control iter: 1743040880.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040880.583165 s.K~,S%\,AJ"J*J2J:JBJnJvJA)\u@Aeh@A_~? AIAn%"AAvNA"AZAbAjArAzAAAu"7"9@Am{4sAVr@Ay_<Ao=A*?A?A]?A*A:?2AFֽ:AZ =BA:?JAFֽRAZ =٘i)I9Vr@Y~G JC=JJJJF&K YT^~?ye$HA>F)7ŧ7*9)B[[ z?[=_~?[[[[[BZYY i) .DIH?i8» $?))$?$?êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040880.603165 s, next control iter: 1743040880.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14379, header.stamp.nsec: 00 temperature: 13.564794* salinity: 33.375565, density: 1025.000000* values[0]: 0.579182F (some fields omitted in printout)T^~?)e rAdjusting time to match Gazebo time: 1743040881.003165 s.y K~,P4@\,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077614< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743040881.003328F (some fields omitted in printout)AR@Az@A_~? A_BAJ%"AAvNA"AZAbAjArAzAAA}E9@A(ƔsAq@AH<AI=A?Ab?A0?AǗ*Aw:?2A=ֽ:Al7 =BAw:?JA=ֽRAl7 =٘i)I9q@Y1G JnJJJJF&K Y*^~?y$ GA?F{7{79B)E[[o?[$_~?[[[[[BZYY i) eSIH?i"gл ?))??RǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040881.023165 s, next control iter: 1743040881.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040881.423165 s.uK~,[\,AJ"J*J2J:J4?BJ4?nJg5vJA{G@AnB<@A2_~? A;A'%"AA~vNA"AZAbAjArAzAAA>3Ȏh9@Au;YsAXq@A;AxU=AIV?A@?ABL?A#Z*AT:?2A׽:A =BAT:?JA׽RA =٘i)I9Xq@YG J1JJJJF&K Y^~?yhGAAF7779)B[[fh?[1_~?[ [[[[BZYY i) cIH?i+ܻ ?))??ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040881.463165 s, next control iter: 1743040881.823181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14380, header.stamp.nsec: 00 temperature: 13.564956* salinity: 33.375557, density: 1025.000000* values[0]: 0.578643F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040881.843165 s.K~,4u\,AAp= @Am% @A_~? A3A#g%"AAJwNA"AZAbAjArAzAAAޅ9@A.f۹sAp@A|uAҕ=Aw ?AU?A@D?As*A :?2Am׽:AF =BA :?JAm׽RAF =٘i)I9p@YG JkJJJJF&K Y_~?y GABFj7Z79)B[[e?[{>_~?[>[[[[BZYY i) rIH?i 3 , ?))?? ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040881.863165 s, next control iter: 1743040882.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040882.263165 s.$K~,,ؐ\,AJ"J*J2J:J?BJ?nJB5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077614< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743040882.263298F (some fields omitted in printout)AL@AQ??@AX_~? AK,Aw%"AAXwNA"AZAbAjArAzAAAX59@A_RsA"Xp@A-QA h=AJ?A+?A@ɯ?A8*A :?2Ao׽:A% =BA :?JAo׽RA% =٘i)I9Xp@YGG JJJJJF&K Y_~?y`FACF777T9B)BE[[d?[mJ_~?[[[[[BZYY i) IH?i(8! ?))??ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040882.283165 s, next control iter: 1743040882.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 143812, header.stamp.nsec: 020 temperature: 13.5651452* salinity: 33.3755682, density: 1025.0000002* values[0]: 0.5780832F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040882.683165 s.l*K~,o\,AA(\@ALQ.u@A._~? A$A%"AA'wNA"AZAbAjArAzAAA'I9@AрjTsAo@Au8WA=ABV?AeG?A`?A*A:?2A{׽:A> =BA:?JA{׽RA> =٘i)I9o@YG JB=JJJJF&K Y_~?yNFAEFŧ7ŧ79 B)BE[[e?[U_~?[?[[[[BZYY iﱽ) XIH?iD; =?))=?=?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040882.683165 s, next control iter: 1743040883.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743040883.103165 s.(1K~,\,AJ"J*J2J:J?BJ?nJ5vJAQ@AׇF@A_~? A@A%"AA66wNA"AZAbAjArAzAAAV9@A$sALo@AI׻A;X=A|?A?c?A`~?A_*A69?2Ay&׽:AY=BA69?JAy&׽RAY=٘i)I9Lo@YG J0C=JJJJF&K YZ&_~?yEAFFb779)B[[Yg?[s`_~?[[[[[BZYY i) =uI͟H?i[<t &?))&?&?[تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040883.123165 s, next control iter: 1743040883.503195 s, wait time: 0.380030 s rAdjusting time to match Gazebo time: 1743040883.523165 s.7K~,|\,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086883< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743040883.523284F (some fields omitted in printout)AHz@A2#@A^_~? AAɯ%"AADwNA"AZAbAjArAzAAAk5'9@Ar sA n@AWb;Aß=Ac?A?A0?As*AI9?2Anֽ:A=BAI9?JAnֽRA=٘i)I9n@YNG JȨB=JJJJF&K Y20_~?yکEAGFŧ7b79 B)BE[[i?[j_~?[[[[[BZYY i) =1IH?io;u b@))b@b@۪YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743040883.563165 s, next control iter: 1743040883.923180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14382, header.stamp.nsec: 00 temperature: 13.565342* salinity: 33.375553, density: 1025.000000* values[0]: 0.577488F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040883.943165 s.[d>K~,O]\,AJ"J*J2J:J?BJ?nJ5vJAq= #@A!@A`~? A AD%"AAQwNA"AZAbAjArAzAAAw#Ex:@A|5ӢsA+n@Af?<Azy=A ?A1?AgV?A^X*A9?2Aֽ:Ap=BA9?JAֽRAp=٘i)I9+n@YG J|C=JJJJF&K Y:_~?yZҩ4EAIF)7ŧ79)B[[vj?[s_~?[ة[[[[BZYY i) gꟼI͋H?i8' b@))b@b@yױLߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040883.963165 s, next control iter: 1743040884.343183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743040884.363165 s.EK~,>],AAY@A(\L@A`~? AGA%"AAh]wNA"AZAbAjArAzAAAbN1D.:@AFsAm@AMb<A%=A?A`_?A=z?AV,*A9?2Aֽ:A=BA9?JAֽRA=Y혙?:?y!=k c<ٓHG?@ş }??`C{?#س?{wI??)혙? I٘i)I9m@YG JJ<JJJF&K> YK>_~?yɩDA?JFZ7Z7J9B)BE[[d?[|_~?[^ϩ[[[[BZYY i) ONI5H?iE%+ D@))D@D@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040884.403165 s, next control iter: 1743040884.763182 s, wait time: 0.360017 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14383&, header.stamp.nsec: 0&0 temperature: 13.565580&* salinity: 33.375595&, density: 1025.000000&* values[0]: 0.576839&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040884.783165 s.[KK~,2],AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086883< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743040884.783317F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A4HS@A`~? AAq%"AAhwNA"AZAbAjArAzAAADcD:@AßbsAXl@À<A=A*?A U?A?A|*A9?2Aqֽ:A-R=BA9?JAqֽRA-R=٘i)I9l@Y9G J"B=JJJJF&K YB_~?yVDAKF779)B[[c?[_~?[{Ʃ[[[[BZYY i) gI vH?i O  J@)) J@ J@ YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743040884.823165 s, next control iter: 1743040885.183180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040885.203165 s.SK~,M],AAQ@A@A`~? AA %"AAswNA"AZAbAjArAzAAA7Y:@Ah9sA?Zl@AxzAf=AV?A?A Ի?A`*A|9?2A.׽:A=BA|9?JA.׽RA=٘i)I9Zl@YG JVC=JQ>JJJF&K> YF_~?yBCAMFŧ77߬9)B[[d?[_~?[[[[[BZYY i) IpjH?iXH @))@@&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040885.223165 s, next control iter: 1743040885.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040885.623165 s.ZYK~,ig],AJ"J*J2J:J|?BJ|?nJ5vJAG@Aj@A #`~? AA)%"AA}wNA"AZAbAjArAzAAA~Tl:@A@׏sAIk@Ak %A&=A?A`?A?A*A9?2ANr׽:A=BA9?JANr׽RA=٘i)I9k@YyG J JQ>JJJF&K> YK_~?yyCANF7779B)BE[[j?[_~?[t[[[[BZYY i) .xIy^H?i^t >@))>@>@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040885.643165 s, next control iter: 1743040886.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14384 , header.stamp.nsec: 0 0 temperature: 13.565814 * salinity: 33.375568 , density: 1025.000000 * values[0]: 0.576121 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040886.043165 s.`K~,Â],AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086883< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743040886.043295F (some fields omitted in printout)A= ף0@A#@A(`~? AA;%"AAwNA"AZAbAjArAzAAA{.}:@AMksA,k@AJ:cA=A YP_~?yBA?QF7?9B)BE[[v?[_~?[/[[[[BZYY i) ̼ItEH?i@n { ;4 @));4 @;4 @yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040886.483165 s, next control iter: 1743040886.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14385, header.stamp.nsec: 00 temperature: 13.566095* salinity: 33.375595, density: 1025.000000* values[0]: 0.575394F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040886.883165 s.zmK~,f],AA(@AT@A2`~? A'תAzp%"AAwNA"AZAbAjArAzAAA5/:@A elevatorAngleAction: 0.083875< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200562 time: 1743040888.563337F (some fields omitted in printout)A3333s@AS'f@A@`~? A'Aq&"AAwNA"AZAbAjArAzAAAh|:@A~msAf@Ax;A쎱=A+?A8.?A`E[?AL*Aи9?2A8ֽ:AH<BAи9?JA8ֽRAH YT_~?y)r;@A?WF7759)˯B[[?[v_~?[s[[[[ZZBZYY i) vIG?i4W. s@))s@s@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040888.603165 s, next control iter: 1743040888.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14387, header.stamp.nsec: 00 temperature: 13.566709* salinity: 33.375576, density: 1025.000000* values[0]: 0.573751F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040888.983165 s.K~,>^,AJ"J*J2J:J?BJ?nJ5vJA\@A@AB`~? AAQ}&"AA-wNA"AZAbAjArAzAAAu@m:@AxZhsAe@A=xһA&=Ac?Aҭ?Ad?AHE*A9?2A׽:A4b<BA9?JA׽RA4b<٘i)I9e@Y G JJJJJF&K YoS_~?yai?AYFŧ7b79B)ЯBE[[`?[_~?[j[[[[ZZBZYY i) HwIG?i )A3 ,@)),@,@y"=תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040889.023165 s, next control iter: 1743040889.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040889.403165 s.'K~, Y^,AAQ@A"@AWD`~? AAr&"AAwNA"AZAbAjArAzAAA֒;ZC:@A/csAae@A]Az=A ?A@?A@6l?A*AX9?2As׽:A^<BAX9?JAs׽RA^<٘i)I9e@Yp G JWB=JJJJF&K YQ_~?y`M?AZFʾ9)ׯB[[X?[_~?[`[[[[ZZBZYY i) xIRG?iێ46 @))@@!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040889.443165 s, next control iter: 1743040889.803186 s, wait time: 0.360021 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14388", header.stamp.nsec: 0"0 temperature: 13.567103"* salinity: 33.375607", density: 1025.000000"* values[0]: 0.572731"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040889.823165 s.K~,t^,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: 0.4200242 time: 1743040889.823322F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@Atp@AgE`~? AA˷&"AAwNA"AZAbAjArAzAAA("z}:@A4_sA6[d@AtbA6=Ap?A@׵?Ar?Aм*Ae9?2Aֽ:Ar;BAe9?JAֽRAr;٘i)I9[d@Y G JC=JJJJF&K YP_~?yW>A[FS779)ݯB[[?[_~?[%W[[[[ZZBZYY i) zIG?iR#9 P3@))P3@P3@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040889.843165 s, next control iter: 1743040890.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040890.243165 s.K~,~^,AAףp=J@A%2=@AE`~? A햪AMU&"AATwNA"AZAbAjArAzAAA9:@Aj+l&ZsAc@AA<AQ4?A`}?A@iu?AkH*A9?2Arֽ:A BA9?JArֽRA ٘i)I9c@Y G JvüJJJJF&K Y O_~?yO^>A]Fŧ7b7_9)BE[[?[_~?[M[[[[ZZBZYY i) V|I$G?ic : ޹@))޹@޹@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040890.263165 s, next control iter: 1743040890.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040890.663165 s.K~,q^,AJ"J*J2J:Jd?BJd?nJ5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14389, header.stamp.nsec: 00 temperature: 13.567464* salinity: 33.375591, density: 1025.000000* values[0]: 0.571850F (some fields omitted in printout)A@Ah%r@AE`~? AێA&"AAŷwNA"AZAbAjArAzAAA}9:@A,9UsA0c@A^?;A,<A?A`A4v?AOA*Af9?2Aֽ:A&BAf9?JAֽRA&Y??yѱ,<?;ٓH@ʥÿ `T?u? ÿ`?? g??)? I٘i)I90c@YE G JԟB=J9JJJF&Kx> YJ_~?yNFP>A?^F*9)B[[?[۬_~?["D[[[[ZZBZYY i8i=)  *yIG?i}{X? r<@))r<@r<@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040890.683165 s, next control iter: 1743040891.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040891.083165 s.DK~,S^,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065630< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743040891.083282F (some fields omitted in printout)A)\µ@A4@AjE`~? AɆA&"AAgwNA"AZAbAjArAzAAA긕:@A$LPsAb@Aީ6<AOAkd?ATQALt?AH*A9?2A&ֽ:AozvBA9?JA&ֽRAozv٘i)I9b@Y G JuC=JJJJF&K YWF_~?y=A>A_Fj7j79)B[[9?[Q_~?[:[[[[ZZBZYY iHr=) H`eIG?iSCC @))@@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040891.103165 s, next control iter: 1743040891.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040891.503165 s.K~,e4^,AJ"J*J2J:JN?BJN?nJi5vJAR@ACVz@A[D`~? A~A.&"AAAaFb779)B[[U?[_~?[1[[[[ZZBZYY i) QI G?iE MI@))MI@MI@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040891.523165 s, next control iter: 1743040891.903183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14390, header.stamp.nsec: 00 temperature: 13.567666* salinity: 33.375580, density: 1025.000000* values[0]: 0.571293F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040891.923165 s.;K~,^,AA{G!@A"<@AB`~? AvA&"AACwNA"AZAbAjArAzAAA%|:@AI$tFsAeb@AZ<AAT?A`䪿A2i?AN*AI9?2Aֽ:ApɼBAI9?JAֽRApɼ٘i)I9eb@Y G JܘJJJJF&K Y=_~?y$,$>AbF7)79B)E[[t?[_~?['[[[[BZYY i) =ITG?i@G @))@@y=0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040891.943165 s, next control iter: 1743040892.323181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040892.343165 s.<K~,_,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075902< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743040892.343289F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@A;I@A@`~? AnAh&"AAwNA"AZAbAjArAzAAA^I:@AhAsA/gb@AҺAT2A4$?A6A_?A`@;*A9?2Abֽ:A)BA9?JAbֽRA)켙٘i)I9gb@Y G Jm9JJJJF&K YN9_~?yk#>AcF)7b7U9)[[?[6_~?[[[[[BZYY i) )IoG?ivF <^ @))<^ @<^ @fo*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040892.363165 s, next control iter: 1743040892.743179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14391*, header.stamp.nsec: 0*0 temperature: 13.567760** salinity: 33.375595*, density: 1025.000000** values[0]: 0.571100*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040892.763165 s.9K~,'0_,AǍ@Af*@A>`~? AfA&"AAwNA"AZAbAjArAzAAAX:@A Y)2_~?y_>A?eF77{7 9)B[[?[_~?[[[[[BZYY ii=) I^G?i K !@))!@!@K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040892.803165 s, next control iter: 1743040893.163180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040893.183165 s.K~,K_,AJ"J*J2J:JBJnJvJA(\@AKs+@A:`~? A^A&"AAwNA"AZAbAjArAzAAAL5~:@A1d,7sA#b@A2gAxA?@?AEAAfF7779B)E[[I?[s_~?[B [[[[BZYY i) d I@MG?iߠeM  l#@)) l#@ l#@k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040893.203165 s, next control iter: 1743040893.583180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040893.603165 s.@4K~,Ԛf_,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057091< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743040893.603310F (some fields omitted in printout)AQ@AзK@A37`~? AVA> &"AAvwNA"AZAbAjArAzAAAz%&e:@Ap2sAXc@A*AA ?AA 2?ARl<*A9?2AfLֽ:ABA9?JAfLֽRA٘i)I9c@Y: G JO<B=JJJJF&K Y#_~?y >AgFb779B)BE[[?[r_~?[[[[[BZYY i>y=) ,I;G?i_O W$@))W$@W$@O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040893.623165 s, next control iter: 1743040894.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14392 , header.stamp.nsec: 0 0 temperature: 13.567671 * salinity: 33.375603 , density: 1025.000000 * values[0]: 0.571290 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040894.023165 s.ZK~, |_,AJ"J*J2J:JBJnJvJAHz.@Amɪ!@A2`~? ANA &"AAwNA"AZAbAjArAzAAA:@A-?.sA_c@A^AzA?A9+A?A%<*A9?2Aۮֽ:ABA9?JAۮֽRA٘i)I9c@Y{ G J~<C=JJJJF&K Y_~?yL9?AiFŧ7b79)B[[ ?[_~?[[[[[BZYY i) ѻIh*G?i|O &@))&@&@y0j=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040894.043165 s, next control iter: 1743040894.423178 s, wait time: 0.380013 s_~?)L rAdjusting time to match Gazebo time: 1743040894.443165 s.?K~,_]_,AAq= c@AtV@AD.`~? AFA6v &"AAɗwNA"AZAbAjArAzAAAIj_aO:@A{')sA d@AJ <A+AC?A 3¿A`U?A<*A9?2A0׽:Af BA9?JA0׽RAf ٘i)I9d@Y G JJ<JJJJF&K Y_~?y?AjF77J9)߯B[[-?[?{_~?[P[[[[BZYY i) AIG?i#AN (@))(@(@y,=0*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743040894.463165 s, next control iter: 1743040894.843180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14393, header.stamp.nsec: 00 temperature: 13.567526* salinity: 33.375599, density: 1025.000000* values[0]: 0.571747F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040894.863165 s.+K~,>_,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066638< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743040894.863300F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A'@A)`~? A>A &"AA@wNA"AZAbAjArAzAAA]]_~:@A~ՁS$sA~d@A_<A/A?AIÿA `?A@<*A9?2A׽:A: BA9?JA׽RA: Y?8?y>k`<ٓHCQֿ? ?@pֿ@̰` >?? ?)? I٘i)I9~d@Y G J<JDYJJJF&KIx> Y _~?y?A?kFb79B)ݯBE[[hL?[r_~?[%[[[[BZYY i) GӒIG?iGQ ̖)@))̖)@̖)@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040894.883165 s, next control iter: 1743040895.263181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040895.283165 s.?RK~,_,AA(\@AHP@A<#`~? A6A &"AAwNA"AZAbAjArAzAAA l:@ABfsAe@A?<A䏜Aށ?A@ſA(?Ao<*AP9?2Aֽ:A BAP9?JAֽRA ٘i)I9e@Yb G J<JJJJF&K Y_~?yFQ@AmFŧ779B)دBE[[Ml?[.h_~?[ݨ[[[[BZYY i) V\iIF?iФR  +@)) +@ +@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040895.303165 s, next control iter: 1743040895.683179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 143942, header.stamp.nsec: 020 temperature: 13.3878312* salinity: 33.3916512, density: 1025.0000002* values[0]: 0.6908902F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040895.703165 s.պK~, _,AJ"J*J2J:JBJnJvJAQ@Ac^G@A`~? A /AD &"AA~wNA"AZAbAjArAzAAA+Y:@Aڦ$sAPe@AUi;AA?A`ǿAж?A_<*A9?2Aֽ:Ai BA9?JAֽRAi ٘i)I9e@Y G J<B=JJJJF&K Y^~?y@AnFŧ79)ԯB[[?[]_~?[Ө[[[[BZYY i) d-IF?iOS u,@))u,@u,@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040895.723165 s, next control iter: 1743040896.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040896.123165 s.9K~,e`,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: 0.4199972 time: 1743040896.123275F (some fields omitted in printout)AG:@A6-@A'`~? A?'A- &"AAtwNA"AZAbAjArAzAAAlk21E:@Ax?sA&f@AӻAA?A`zɿAQ?A;a<*A9?2AJֽ:A[ BA9?JAJֽRA[ ٘i)I9&f@Y G J<C=JJJJF&K Y^~?yר AApF7777u9B)ѯB E[[?[=R_~?[˨[[[[BZYY i) I\F?iNOR "9.@))"9.@"9.@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040896.143165 s, next control iter: 1743040896.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040896.543165 s.IK~,"`,AJ"J*J2J:JBJnJvJA= ףp@Ac@A`~? A~Au &"AALjwNA"AZAbAjArAzAAA//:@AeL?sAf@AUAJA/@A K˿A u?AF<*A˾9?2A*ֽ:AY BA˾9?JA*ֽRAY ٘i)I9f@Yp G J^<JJJJF&K Y9^~?yϨAAqF77@9)̯B E[[?[=F_~?[.¨[[[[BZYY i) OQIF?i{O /@))/@/@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040896.563165 s, next control iter: 1743040896.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14395, header.stamp.nsec: 00 temperature: 13.387611* salinity: 33.391670, density: 1025.000000* values[0]: 0.691851F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040896.963165 s.}K~,=`,AAffff@AJ\@A`~? AA &"AA^wNA"AZAbAjArAzAAAh:@A sAZg@AiQAy.Am@A@ͿA:Q?A'<*A9?2A%Oֽ:As BA9?JA%OֽRAs Y(?9@y>+ RٓH@pFܿ` Y?I?=Lܿ@g@@? -!?)(? I٘i)I9Zg@Y G Ja<JϸJJJF&Kx> Y^~?yǨAA@rF7 9)ǯB[[(v@[9_~?[j[[[[BZYY i) 8ICF?iQ P1@))P1@P1@.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040896.983165 s, next control iter: 1743040897.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040897.383165 s.K~,YX`,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: 0.4200402 time: 1743040897.383323F (some fields omitted in printout)J"J*J2J:JBJnJvJA(@A @A_~? A#A&"AARwNA"AZAbAjArAzAAA4lO89@A,$sA'g@Ap0AݘA.@A`οAK*?A+<*A9?2A ֽ:A BA9?JA ֽRA ٘i)I9g@Y* G Jdz<JJJJF&K Y3^~?yVBAtF79B)įBE[[f@[',_~?[[[[[BZYY i) @:IF?ijLtR W2@))W2@W2@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040897.403165 s, next control iter: 1743040897.783183 s, wait time: 0.380018 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14396&, header.stamp.nsec: 0&0 temperature: 13.387395&* salinity: 33.391666&, density: 1025.000000&* values[0]: 0.692909&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040897.803165 s.AK~,gs`,AA@AG@A_~? AA6&"AAEwNA"AZAbAjArAzAAAr9@A<sAvh@AN;AwAɈ@A aпA?A<*AK9?2A|ֽ:A9BAK9?JA|ֽRA9٘i)I9h@Y G J<JJJJF&K Y^~?yܷBAuF7ŧ79)B[[u@[_~?[-[[[[BZYY i) .m;IF?iУQ g4@))g4@g4@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040897.843165 s, next control iter: 1743040898.203181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743040898.223165 s.g#K~,H`,AJ"J*J2J:J1?BJ1?nJ!:5vJAzG@Ag':@A_~? AA&"AA8wNA"AZAbAjArAzAAAt:B9@A IrAm i@ATF<A}A@A HѿA?Aw<*A9?2A.׽:AoBA9?JA.׽RAo٘i)I9 i@Y G Jo<JJJJF&K Y0^~?y%CAvFj7Z7j9B)BE[[&@[a_~?[[[[[BZYY i) <;IzF?i*O 5@))5@5@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040898.243165 s, next control iter: 1743040898.623181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040898.643165 s.y)K~,*`,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: 0.4199872 time: 1743040898.643293F (some fields omitted in printout)A ףp}@A'dp@A_~? AA]&"AA)wNA"AZAbAjArAzAAA9@A1+lrAi@A^<AWA.@A`,ҿA|?A<*A~9?2A !׽:AABA~9?JA !׽RAA٘i)I9i@Y(G J<JJJJF&K Y^~?yCAxF7{759B)BE[[@[ _~?[j[[[[BZYY i)  x;IeiF?iyX L 7@))7@7@*YtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14397, header.stamp.nsec: 00 temperature: 13.387173F* salinity: 33.391670, density: 1025.000000* values[0]: 0.693860F (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743040898.663165 s, next control iter: 1743040899.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040899.063165 s.0K~,p `,AJ"J*J2J:J1?BJ1?nJA:5vJA3333@Ai*@A_~? AA&"AAdwNA"AZAbAjArAzAAA<4geE9@ArA6j@AX<A`nARu@A` ӿAPv?Aq<*A9?2Aֽ:ABA9?JAֽRAY;?Bl@y9mn<ٓH @_?i?@@ɱ?C?`?);? I٘i)I9j@YxG Jœ<J_<JJJF&K-x> Y^~?yCAl@yF{79)B[[D@[ ^~?[5[[[[BZYY i) D;I-XF?i3L 0 9@))0 9@0 9@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040899.083165 s, next control iter: 1743040899.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040899.483165 s.w_7K~,`,AA\@AӽN@A_~? AA_&"AAr wNA"AZAbAjArAzAAAi9@Aۑ( rAj@A<AA @A#ӿA3D?AH<*Ak9?2AЍֽ:A;BAk9?JAЍֽRA;٘i)I9j@YG J<JJJJF&K Y^~?y)LDAzF77j79B)BE[[\ @[i^~?[ [[[[BZYY i=) ;IGF?i^eL :@)):@:@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040899.503165 s, next control iter: 1743040899.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14398, header.stamp.nsec: 00 temperature: 13.386960* salinity: 33.391666, density: 1025.000000* values[0]: 0.694745F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040899.903165 s.=K~,`,AJvPublished command to Gazebo (printed only once in a while):"J( dropWeightState: 1*J2J:J8 propOmegaAction: 25.132812BJ< rudderAngleAction: -0.261799nJ> elevatorAngleAction: 0.075558vJ< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743040899.903293F (some fields omitted in printout)AQ@Aa@Aw_~? AvAW&"AAvNA"AZAbAjArAzAAAkspqG9@AdrA~k@AT.AϊA] @A`~ԿA?A֜<*A9?2AVֽ:AiBA9?JAVֽRAi٘i)I9k@YG J<JJJJF&K Yx^~?yDA|Fŧ7b79)B[[Jb @[)^~?[-[[[[BZYY i) L;I6F?i8J D%<@))D%<@D%<@%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040899.923165 s, next control iter: 1743040900.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040900.323165 s.{DK~,:a,AAGzT@AynG@A_~? A?ܩA&"AAevNA"AZAbAjArAzAAA#9@A$"4rAsk@AbAhAE @ApտA?Aq0<*A9?2A0Yֽ:AtBA9?JA0YֽRAt٘i)I9k@YhG J<JJJJF&K Yi^~?y? EA}F77{7`9 B)BE[[P @[W^~?[aw[[[[BZYY i) y;IA%F?iKQG O=@))O=@O=@3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040900.363165 s, next control iter: 1743040900.723179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14399*, header.stamp.nsec: 0*0 temperature: 13.386800** salinity: 33.391685*, density: 1025.000000** values[0]: 0.695616*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040900.743165 s.WKK~,q/a,AJ"J*J2J:JBJnJvJAףp=@A72}@A_~? AթA(&"AALvNA"AZAbAjArAzAAA|8@A rA?l@AwAb鈽A- @AtֿA`?A}<*AF9?2AΔֽ:ABAF9?JAΔֽRA٘i)I9l@YG J<JJJJF&K YZ^~?yʂkEA~Fŧ77+9)B[[}@[^~?[o[[[[BZYY i) . elevatorAngleAction: 0.075558< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743040901.163285F (some fields omitted in printout)A@Aw@A_~? AΩA&"AA|vNA"AZAbAjArAzAAApb8@A/lQrAnl@AAe7A/@AL׿A`Nc?ADN<*A9?2Aֽ:ABA9?JAֽRAY@@yc7ٓH@uw:`? +?`a.#?QQ@`?)@ I٘i)I9l@YG J><Ju;JJJF&K=x> Y.I^~?y{EA@Fb79 B)BE[[ @[^~?[* elevatorAngleAction: 0.075558< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743040902.423297F (some fields omitted in printout)A{Ga @AQ Y]~?yYGAs@F{7{79)B[[[@[#0^~?["E[[[[BZYY i) hH@))>H@>H@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040903.283165 s, next control iter: 1743040903.663174 s, wait time: 0.380009 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 144022, header.stamp.nsec: 020 temperature: 13.3862992* salinity: 33.3916972, density: 1025.0000002* values[0]: 0.6980262F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040903.683165 s.lzK~,Va,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075558< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743040903.683274F (some fields omitted in printout)A(\!@A  @AcH_~? AA&"AA!DvNA"AZAbAjArAzAAAtM7@A]rAno@AYAA@AܿA?At<*Al9?2A:ֽ:AY BAl9?JA:ֽRAY ٘i)I9no@YG J<C=JJJJF&K Y]~?y[SGAFj7Z79B)BE[[tN@[^~?[>[[[[BZYY i=) h]w] elevatorAngleAction: 0.084440vJ< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199432 time: 1743040904.943265F (some fields omitted in printout)Aq= ף!@Aдʖ!@A_~? AAGE&"AAuNA"AZAbAjArAzAAAeDs.B7@A:rAq@A;AAg@A+T޿A8?A,<*A9?2A ׽:A[LBA9?JA ׽RA[L٘i)I9q@YG J^<JJJJF&K  9Y]~? 9yJ@%IAF779B)BE[[.@[m]~?[6,[[[[BZYY i) IWb,AA!@ABĒ!@A_~? AtA&"AA1uNA"AZAbAjArAzAAAf>Y7@A rAq@A"I<AAE@A߿A@?AƟ<*A89?2A17׽:A=BA89?JA17׽RA=Y @@ynJ<ٓH N@۳ ? ?e?`:?J?) @ I٘i)I9q@YG JԞ<B=JCJJJF&K3x> Yl]~?y:IA@F)7ŧ79B)BE[[k@[]~?[m&[[[[BZYY i)  elevatorAngleAction: 0.084440< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743040906.203281F (some fields omitted in printout)AQE"@A 8"@A^~? AAN&"AAuNA"AZAbAjArAzAAA_T6@A"=rAr@A_;AyգA@A<:A`?A)<*A>9?2Aֽ:AIBA>9?JAֽRAI٘i)I9r@YG J<JJJJF&K Yia]~?y//aJAF7v9B)BE[[eu"@[]~?[q[[[[BZYY i) ))>5S@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040906.223165 s, next control iter: 1743040906.603180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040906.623165 s.[K~,mb,AJ"J*J2J:Je3?BJe3?nJ<5vJAGz"@ASAEm"@A^~? AzAQ&"AAPuNA"AZAbAjArAzAAA{ l6@A%rA3s@AX/A~A @A A?A<*Aߜ9?2A0aֽ:A3BAߜ9?JA0aֽRA3٘i)I93s@YG J,<JJJJF&K YK]~?y|)JAF77@9B)B޹E[[#@[Et]~?[B[[[[BZYY i)  elevatorAngleAction: 0.084440< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743040907.463288F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff"@A\"@A^~? AoA&"AA6ZuNA"AZAbAjArAzAAA|v5@Al^ߥrAst@ACbA㫽Af"@A47A`?A^<*A9?2Aֽ:A{BA9?JAֽRA{Ys@y"@yޫcٓHC,R? ?U-`eu? 'Hb?)s@ I٘i)I9st@YG Jp<JҌJJJF&Kw> Y']~?yKAy"@Fŧ7ŧ7 9 B)|B۹E[[&@[A]~?[z [[[[BZYY i) ^ elevatorAngleAction: 0.084440< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743040908.723278F (some fields omitted in printout)Az#@Az]z#@AOq^~? A_A1&"AAuNA"AZAbAjArAzAAA؇1I5@AP,rAjv@ADX<A;Aup&@AV)A`?AA<*AQ9?2A׽:AKBAQ9?JA׽RAK٘i)I9jv@YG J<JJJJF&K Yp\~?yMAF{7{769$B)qBԹE[[w+@[\~?[J[[[[BZYY i) ~B Yu\~?yMA(@F77j79'B)iBιE[[?o.@[۾\~?[[[[[BZYY i)  elevatorAngleAction: 0.093210< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199472 time: 1743040909.983279F (some fields omitted in printout)J"J*J2J:JBJnJvJA\($@A$@A|3^~? APAU&"AAtNA"AZAbAjArAzAAAK14@A,rAZlx@AD;A޴A]M*@AACg?A<*AP9?2Aqvֽ:A$BAP9?JAqvֽRA$٘i)I9lx@Y2G J<JJJJF&K Y\~?ydfNAFŧ779)dB[[/@[\~?[[[[[ZZZZ¸>BZYY i¸>)  Yx,\~?yJ"PAz/@Fj7Z79-B)PB¹E[[5@[7\~?[[[[[ZZZZBZYY i) e7@[h\~?[[[[[ZZZZBZYY i) %@A]~? AH3A}&"AAsNA"AZAbAjArAzAAAU2@AE/rA8}@AXi<A4H-Abd3@AxA?Ay<*A 9?2A{Pֽ:AAI<BA 9?JA{PֽRAAI<٘i)I9}@YMG J<JJJJ F&K Y`[~?yQAF77{7!#91B)EBE[[#:@[ [~?[[[[[ZZZZBZYY i)  &))&)k@w)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040912.943165 s, next control iter: 1743040913.323197 s, wait time: 0.380032 s rAdjusting time to match Gazebo time: 1743040913.343165 s.<K~,Ud,AJ"J*J2J:JBJnJvJAp= %@AK%@Aہ]~? A/A&"AAsNA"AZAbAjArAzAAA!0s2@Ah ~rA}@A;ASX;A4@A`Aj?A5<*Am9?2Abֽ:AV~<BAm9?JAbֽRAV~<٘i)I9}@YG J`<JJJJ F&K YY[~?yqQAF777$93B)DBE[[͒;@[o[~?[ާ[[[[ZZZZBZYY i) *vJJJF&K2x> YH[~?yVQA5@ EFŧ7b7&94B)CBE[[V=@[j[~?[ܧ[[[[ZZZZBZYY iq) Nad@[l[~?[Kۧ[[[[BZYY in) h?R]d,AAq= &@A&@A ]~? A}A~/!&"AA#rNA"AZAbAjArAzAAA}z2 1@AP1trAW}@AE:Aߪx=A`,;@AA4?A3*A59?2A/ֽ:A'=BA59?JA/ֽRA'=٘i)I9}@YG JJJJJF&K Y =[~?yקPAF{7-9)HBE[[NB@[<[~?[ק[[[[BZYY i) Hd,AJ"J*J2J:J5?BJ5?nJj>5vJA'@AC '@Aa\~? AA?g!&"AAKrNA"AZAbAjArAzAAA^QX/0@AM|LsrA}@A^~,<A$=Ao<@AbAK?Ak*A9?2Aս:Af=BA9?JAսRAf=Yst.@z<@y3=,<ٓH TPYɿ \2?``? ?Y?)st.@ I٘i)I9}@YWG JMJ=JJJF&Kw> YU![~?yէPAz<@Fb77/98B)KBE[[$D@[ ![~?[ק[[[[BZYY i2"g) E 2=BA'9?JA#ֽRA>2=٘i)I9|@YG JB=JJJJF&K YZ~?ytҧOAF777A39:B)UBE[[F@[Z~?[֧[[[[BZYY i) Z;ID?i>$: #))#?x@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040916.723165 s, next control iter: 1743040917.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040917.123165 s.8QK~,aGe,AAG'@A֭'@A!\~? ATA!&"AA-QrNA"AZAbAjArAzAAAWfr$/@A!nrA$|@A:Aڗ=Aa@@AA?At*A9?2A>ֽ:A =BA9?JA>ֽRA =٘i)I9$|@YvG JlC=JJJJF&K Y4Z~?yЧ|OAFj7Z7 59;B)ZBE[[ZH@[Z~?[է[[[[BZYY i) E;IlD?iOJ>z; eq))eqPy@ykgԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040917.163165 s, next control iter: 1743040917.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743040917.543165 s.IXK~,be,AJ"J*J2J:JM5?BJM5?nJ>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056429< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040917.543303F (some fields omitted in printout)A= ף'@A4'@A\~? A.A("&"AAP+rNA"AZAbAjArAzAAAj{,&/@AIzmrA={@Ap A%=AA@AA`D?At*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9{@Y G JzJJJJF&K YZ~?yϧ OAFZ769~T,; )){@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040917.583165 s, next control iter: 1743040917.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14416, header.stamp.nsec: 00 temperature: 13.384423* salinity: 33.391720, density: 1025.000000* values[0]: 0.707654F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040917.963165 s.^K~,}e,AAffff&(@AO\(@Au\~? A2AP"&"AA;rNA"AZAbAjArAzAAA[~[.@AtClrA{@A$WfAf=AC@A`A`?AEت*A9?2A׽:AS=BA9?JA׽RAS=Y}4@B@y=9fٓH,{ *?9`]|:@ʌ ?)}4@ I٘i)I9{@YG JJ6<JJJF&K0x> YdZ~?y.ΧNAB@Fj789=B)eBE[[ K@[7Z~?[֧[[[[BZYY i)  |;I1D?i>E; ))Շ|@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040918.003165 s, next control iter: 1743040918.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040918.383165 s.eK~,De,AJ"J*J2J:JBJnJvJA(\(@AfO(@A\\~? A^Au"&"AAqNA"AZAbAjArAzAAA(@-@A&krAxz@AHAX=AZD@A@wA[@?Aɦ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9xz@YrG JgJJJJF&K YIzZ~?yYͧRNAFl:9>B)jBE[[gL@[{Z~?[y֧[[[[BZYY i) ?;ID?i>c; Q,))Q,d}@cѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040918.403165 s, next control iter: 1743040918.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14417", header.stamp.nsec: 0"0 temperature: 13.384690"* salinity: 33.391712", density: 1025.000000"* values[0]: 0.706583"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040918.803165 s.}AlK~,ge,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743040918.803282F (some fields omitted in printout)A(@A?߄(@AC\~? A A%"&"AAzqNA"AZAbAjArAzAAA>yY-@A;af"jrAy@AA=A7E@AAe?A*A9?2Aֽ:A=BA9?JAֽRA=I٘i)I9y@YG JJJJJF&K Y/^Z~?y̧MAF776<9)oBE[[M@[`Z~?[ק[[[[BZYY i) q;ID?iX>k; ))]@{ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040918.823165 s, next control iter: 1743040919.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040919.223165 s.gsK~,He,AJ"J*J2J:JBJnJvJAz(@Aa⏢(@A)\~? A2 AG"&"AAבqNA"AZAbAjArAzAAAQ,@A׼q6irAGZy@AJ.;Ak=AVF@A@Ax?ARE*A˶9?2AoBֽ:A=BA˶9?JAoBֽRA=٘i)I9Zy@YG JJJJJF&K YBZ~?y˧MAF>9?B)tBE[[AO@[EZ~?[ק[[[[BZYY i) K:ID?i6>j-; ]X))]Xc@yˆ#˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040919.243165 s, next control iter: 1743040919.623182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040919.643165 s.yyK~,*e,AA ףp(@A/Ie(@A\~? A AM"&"AAkqNA"AZAbAjArAzAAAo#,@A֌dhrAx@A}Y<Ay=A$H@A`.A`\?A*A9?2A#ֽ:A=BA9?JA#ֽRA=٘i)I9x@YlG J̪JJJJ!F&K Y%Z~?yʧMAFj7j7?9)yBE[[P@[6+Z~?[ا[[[[BZYY i) k-9I D?iU?:; o))o@iǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040919.663165 s, next control iter: 1743040920.043181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14418, header.stamp.nsec: 00 temperature: 13.384961* salinity: 33.391727, density: 1025.000000* values[0]: 0.705480F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040920.063165 s.K~,V f,AJ"J*J2J:J4?BJ4?nJ`=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743040920.063287F (some fields omitted in printout)A33333)@A(&)@A+[~? A A/"&"AA!DqNA"AZAbAjArAzAAA' +@ALBgrA=x@A.$Y<Aэ=AHA o@A ?A^Ĥ*A9?2A Fֽ:A/;=BA9?JA FֽRA/;=Y{;@Hy΍=Y<ٓH,x?Ļj|!8?@9Q$??){;@ I٘i)I9=x@YG JΧJgJJJ"F&Kx> Y Z~?yʧLAHF77{7A9@B)~BE[[Q@[cZ~?[٧[[[[BZYY i)  !KID?i?g; /))/Cˁ@{êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040920.083165 s, next control iter: 1743040920.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040920.483165 s._K~,f,AA\h)@A-[)@A^[~? AA#&"AAqNA"AZAbAjArAzAAASW{*@A2h grA/w@A?;A =A=WGA uPAkɵ?Aݜ*A9?2A#ֽ:AlT<BA9?JA#ֽRAlT<٘i)I9w@YG JiB=JJJJ#F&K YvY~?yʧ]LAF777aC9AB)BE[[AXS@[Y~?[ڧ[[[[BZYY i) IvD?i?<; y" ))y" ~@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040920.503165 s, next control iter: 1743040920.883187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14419, header.stamp.nsec: 00 temperature: 13.385224* salinity: 33.391705, density: 1025.000000* values[0]: 0.704399F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040920.903165 s.J "J *J 2J :J S4?ȍK~BJS4?nJ=5vJ,9f,AAQ)@A )@A[~? AAe#&"AApNA"AZAbAjArAzAAA5M*@A:CfrA5w@AA=A6EA]A)?A% *A9?2Aֽ:A[<BA9?JAֽRA[<٘i)I95w@YuG JC=JJJJ%F&K Y;Y~?y˧KAFŧ7b7,E9)B[[gT@[xY~?[eܧ[[[[BZYY i) &.IE?i,?J1;  )) V1@cYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040920.923165 s, next control iter: 1743040921.303184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743040921.323165 s.wK~,)Tf,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743040921.323315F (some fields omitted in printout)AGz)@AWo)@A[~? AA##&"AApNA"AZAbAjArAzAAAW3ٔ)@AQifrA2v@A IA}҆=ADA@hA1?Ao݌*A9?2A׽:A&<BA9?JA׽RA&<٘i)I9v@Y+G JJJJJ&F&K YY~?y˧KAF)7)7F9)BE[[ V@[qY~?[ݧ[[[[BZYY i) ^kIE?i;?!n; X ))X @ӹYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040921.343165 s, next control iter: 1743040921.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14420*, header.stamp.nsec: 0*0 temperature: 13.385457** salinity: 33.391720*, density: 1025.000000** values[0]: 0.703430*F (some fields omitted in printout)2Y~?)2˧ rAdjusting time to match Gazebo time: 1743040921.743165 s.WK~,iof,AJ"J*J2J:J4?BJ4?nJ<5vJAףp= *@Ae3)@A[~? AA/#&"AAapNA"AZAbAjArAzAAAN()@AYerAGv@AxeA=AXCAqA?AB"*A9?2Ay׽:A!<BA9?JAy׽RA!<٘i)I9Gv@YG JϊJJJJ'F&K YY~?y'˧?KAF77{7H9BB)BE[[_W@[Y~?[ߧ[[[[BZYY i) MIE?iiM?v< ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040921.763165 s, next control iter: 1743040922.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040922.163165 s.z}K~,qf,AA@*@A-!2*@At[~? A2A8#&"AApNA"AZAbAjArAzAAA/*u(@A6K erAu@AE A=ABA vA@oי?AV*A`9?2Aֽ:A9<BA`9?JAֽRA9 Y|Y~?y̧JABFJ9)BE[[X@[Y~?[[[[[BZYY i睽) _Ix)E?i%X?,U < ))F@ȶYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040922.183165 s, next control iter: 1743040922.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040922.583165 s.K~, Sf,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: -0.077102< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743040922.583290F (some fields omitted in printout)A)\u*@A7h*@AZ[~? AA8>#&"AAXpNA"AZAbAjArAzAAA'U '@A,A wAA K*A9?2ASHֽ:A=BA9?JASHֽRA=٘i)I9yt@YG JcJJJJ-F&K Yc(Y~?yΧIAF{7O9)BwE[[\@[%BY~?[P[[[[BZYY i) IPE?i}?Ծ%< q))qV@yȝYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040923.443165 s, next control iter: 1743040923.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14422, header.stamp.nsec: 00 temperature: 13.385917* salinity: 33.391720, density: 1025.000000* values[0]: 0.701692F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040923.843165 s.ݼK~,f,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077102< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743040923.843302F (some fields omitted in printout)Ap= +@A +@A [~? A_A <#&"AAVoNA"AZAbAjArAzAAA[D%@An-3erA*t@A (<Ao=A&<A`asAqAQX*AM9?2Aֽ:AR=BAM9?JAֽRAR=٘i)I9t@YG JPJJJJ.F&K YM Y~?yϧIAF77Q9DB)BtE[[^@[)Y~?[[[[[BZYY i) I_E?i^?1< ))@xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040923.863165 s, next control iter: 1743040924.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040924.263165 s.K~, g,AJ"J*J2J:JBJnJvJAL+@A?+@AZ~? AA5#&"AAoNA"AZAbAjArAzAAA0*a%@AxVcerAxs@Ad:A=A5;A5lA`u&A*Aɼ9?2Agֽ:A"{=BAɼ9?JAgֽRA"{=YSH@B;y=3]e:ٓHk9w?``9ʿ1KuL??)SH@ I٘i)I9s@YAG J-J ;JJJ/F&KHx> YX~?yѧ'IA;Fb77S9CB)BuE[[DU_@[Y~?[[[[[BZYY i)  (IoE?iϏ?W8< ))@DYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040924.283165 s, next control iter: 1743040924.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 144232, header.stamp.nsec: 020 temperature: 13.3861332* salinity: 33.3916932, density: 1025.0000002* values[0]: 0.7008502F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040924.683165 s.lK~,k+g,AA(\+@A*nu+@AZ~? AqA*#&"AAoNA"AZAbAjArAzAAA$@AHPfrA^'s@A8AA=A>:AhbA nA*AY9?2A"׽:Aғ=BAY9?JA"׽RAғ=٘i)I9's@YG JBJJJZFJ1F&K Y X~?yӧHAF{7{7LU9)BrE[[`@[X~?[\[[[[BZYY i) $7I:E?i?(@< ))b@پYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040924.683165 s, next control iter: 1743040925.083179 s, wait time: 0.400014 s rAdjusting time to match Gazebo time: 1743040925.103165 s.K~,Fg,AJ"J*J2J:JO3?BJO3?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077102< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743040925.103299F (some fields omitted in printout)AQ+@AnE+@AȾZ~? A:A#&"AAUloNA"AZAbAjArAzAAAz&$@AZfrAr@A:eA͍=A8A VADAK4*A9?2A%2׽:A,=BA9?JA%2׽RA,=٘i)I9r@YG JJJJJ2F&K YlX~?ytէpHAFSI7SI7W9DB)BoE[[a@[X~?[U[[[[BZYY i) 4>GI#E?iN?ZI< ))@ êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040925.123165 s, next control iter: 1743040925.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040925.523165 s.K~,{ag,AAHz+@AH+@AZ~? A- AA #&"AA"EoNA"AZAbAjArAzAAAH?#@A}+`grAKEr@A?A=A7A`:GA|AG*A9?2Aֽ:Aj|=BA9?JAֽRAj|=٘i)I9Er@YsG JJJJJ3F&K YʝX~?yLקHAF777X9)BlE[[?c@[X~?[o[[[[BZYY i) VIE?iY?!S< G))G@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040925.543165 s, next control iter: 1743040925.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14424, header.stamp.nsec: 00 temperature: 13.386341* salinity: 33.391708, density: 1025.000000* values[0]: 0.700028F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040925.943165 s.XdK~,B]|g,AJ"J*J2J:J53?BJ53?nJ;5vJAq= #,@Ab,@A/Z~? AJ AH"&"AAoNA"AZAbAjArAzAAA6I5F"@AB hrA\q@A|QAE=A]6A6A λA(*A]9?2A6ֽ:A]Z =BA]9?JA6ֽRA]Z =٘i)I9q@Y*G JꏼB=JJJJ5F&K Y'X~?y#٧GAFb7{7Z9)BiE[[d@[X~?[[[[[BZYY i) ^fIE?i>?_< O))Of@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040925.963165 s, next control iter: 1743040926.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040926.363165 s.K~,>g,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077102< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743040926.363288F (some fields omitted in printout)AY,@AA*ŎL,@AqZ~? A A+"&"AA nNA"AZAbAjArAzAAAM8IR"@A3ChrAKq@An;A=A5A`"AeA^Q*A$9?2A^Hֽ:A.=BA$9?JA^HֽRA.=YO@{5y=;ٓH^@u?Ɓ ӿ@u`IR@ݲ@|??)O@ I٘i)I9Kq@YG J>C=J<JJJ6F&Kw> YJgX~?yۧTGA5F{7v\9)BfE[[ge@[X~?[[[[[BZYY i) uIE?i?e<  ))  @ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040926.403165 s, next control iter: 1743040926.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14425&, header.stamp.nsec: 0&0 temperature: 13.386568&* salinity: 33.391674&, density: 1025.000000&* values[0]: 0.699136&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040926.783165 s.VK~,g,AJ"J*J2J:J2?BJ2?nJ;5vJA(\,@A yP,@AWZ~? A A"&"AA-nNA"AZAbAjArAzAAA_!@AoXirAp@AG&^<AR=A3A AAi*A]9?2A!ֽ:A=BA]9?JA!ֽRA=٘i)I9p@YG JJJJJ7F&K YkLX~?yާFAFŧ7b7A^9)BcE[[g@[؃X~?[[[[[BZYY i) VIE?i?n< w))w@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040926.803165 s, next control iter: 1743040927.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040927.203165 s.K~,*g,AAQ,@AKr,@Ah>Z~? AA"&"AAtnNA"AZAbAjArAzAAAOz!@A)%jrA@7p@AT<As=AE2AA}ÿA먼*A9?2ADֽ:A.=BA9?JADֽRA.=٘i)I97p@Y3G J\JJJJ9F&K Y1X~?y@FAF7)7 `9)¯B[[ghh@[]mX~?[;[[[[BZYY i) ꉼIE?i#?Y7w< ))/V@BժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040927.243165 s, next control iter: 1743040927.603183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743040927.623165 s.XK~,ag,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077102< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743040927.623316F (some fields omitted in printout)J"J*J2J:JBJnJvJAG,@A&k,@A%Z~? AVA"&"AAnNA"AZAbAjArAzAAA = @Aǂ4krAo@A շ;A^=AR21A@A^ſA#*Aɩ9?2A[ֽ:A$=BAɩ9?JA[ֽRA$=٘i)I9o@YG J_JJJJ:F&K YX~?y$FAF777a9)ǯB`E[[i@[HWX~?[[[[[BZYY i0T) r~I_F?i"?< Z))Z쿩;@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040927.643165 s, next control iter: 1743040928.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14426 , header.stamp.nsec: 0 0 temperature: 13.386816 * salinity: 33.391701 , density: 1025.000000 * values[0]: 0.698139 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040928.043165 s.K~,h,AA= ף0-@AP,#-@A Z~? A@AVe"&"AA\nNA"AZAbAjArAzAAAʚJ@A*vSlrA4o@AA=A/A@DA`?ǿA'*Aè9?2A[ֽ:A=BAè9?JA[ֽRA=٘i)I9o@YG JJJJJ;F&K YW~?yEAF{7{7c9)˯B]E[[j@[AX~?[ [[[[BZYY i) aIF?i?`< C))C鿩 @تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040928.063165 s, next control iter: 1743040928.443181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040928.463165 s.J "J *J 2J :J 2?BJ 2?nJ D;5vJ vK~,nh,AAfffff-@Au]Y-@AY~? ATA|>"&"AAN6nNA"AZAbAjArAzAAA@A%:.nrAHn@A#MA.8=AE.AADɿAO~*A)9?2A),׽:A=BA)9?JA),׽RA=YUU@@.y4=MٓH'5 ?簿@ٿH@᥿~᳿`I?)UU@ I٘i)I9n@Y1G JB=J <JJJ=F&K/x> YW~?y3SEA.FZ7le9)ϯBZE[[9l@[+X~?[[[[[BZYY i) I4F?iT?ω< sE))sE翩~>@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040928.503165 s, next control iter: 1743040928.863187 s, wait time: 0.360022 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14427, header.stamp.nsec: 00 temperature: 13.387072* salinity: 33.391674, density: 1025.000000* values[0]: 0.697098F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040928.883165 s.y K~,88h,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086586< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743040928.883298F (some fields omitted in printout)A(-@Ac`-@AY~? AA"&"AARnNA"AZAbAjArAzAAA8%r@AorAn@AbaA==Aq1-A@HyAcʿAT*A9?2A׽:A=BA9?JA׽RA=٘i)I9n@YG JDC=JJJJ>F&K YW~?yDAF7~77g9)ԯBWE[[}m@[X~?[ [[[[BZYY i) qIKF?i?&ȍ< ))俩@y DLުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040928.923165 s, next control iter: 1743040929.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040929.303165 s.TK~,ogSh,AJ"J*J2J:JBJnJvJA-@A-@AY~? AAv!&"AAmNA"AZAbAjArAzAAA'E@AiqrAWtm@AA=A=+A`TA ̿Ag*A9?2Aֽ:AB=BA9?JAֽRAB=٘i)I9tm@YG JJJJJ?F&K YFW~?yH~DAFb7b7i9)دBUE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #92q/\^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) z)FYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040929.323165 s, next control iter: 1743040929.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14428., header.stamp.nsec: 0.0 temperature: 13.387344.* salinity: 33.391670., density: 1025.000000.* values[0]: 0.696069.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040929.723165 s.K~,Hnh,AAz.@AN|-@A$Y~? AAb!&"AA mNA"AZAbAjArAzAAAأ@APrrAcl@Al;AD=A*A-A@-οA*A9?2A2Vֽ:Azo=BA9?JA2VֽRAzo=٘i)I9l@Y)G J}JJJJAF&K YmW~?yDAF777j9)ݯB[[p@[kW~?[[[[[BZYY i) IUeF?it?T< ó߿)) ó߿"@VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040929.743165 s, next control iter: 1743040930.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040930.143165 s.J "J *J 2J :J 2?BJ 2?W/"K~nJ:5vJ, *h,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086586< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743040930.143285F (some fields omitted in printout)A ףp=.@AYe0.@AY~? A>A!&"AAΟmNA"AZAbAjArAzAAA/ķ@ADVt YaW~?y4CA(F{7{7an9)BOE[[r@[W~?[%[[[[BZYY i) %żIF?i?f< Kڿ))Kڿb@YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040930.603165 s, next control iter: 1743040930.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14429, header.stamp.nsec: 00 temperature: 13.387607* salinity: 33.391647, density: 1025.000000* values[0]: 0.694963F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040930.983165 s./K~,h,AJ"J*J2J:JBJnJvJA\.@A%.@A_Y~? A$A!&"AAUmNA"AZAbAjArAzAAAI3Ϥ@AawrAj@A9<A[`=A'A@LA`DѿAdʼ*Ak:?2A<Ž:A =BAk:?JA<ŽRA =٘i)I9j@YG JȼJJJJEF&K YIW~?yBAFŧ77,p9)BLE[["s@[W~?[]*[[[[BZYY i) @̼I^F?i@.٤< ;7ؿ));7ؿ @Yk_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040931.023165 s, next control iter: 1743040931.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040931.403165 s.&6K~,h,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086586< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743040931.403313F (some fields omitted in printout)AQ.@A%.@AGY~? A:'A &"AA;1mNA"AZAbAjArAzAAAZ̖Ȁ@A~ yrA8Hj@A]9A|=A&AFAmҿA˼*Ag:?2AdȽ:A)=BAg:?JAdȽRA)=٘i)I9Hj@YG J'˼JJJJFF&K Yc0W~?yKBAF7{7q9)B[[.t@[W~?[$/[[[[BZYY i) BԼIF?i@< #տ))#տ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040931.423165 s, next control iter: 1743040931.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14430", header.stamp.nsec: 0"0 temperature: 13.387938"* salinity: 33.391674", density: 1025.000000"* values[0]: 0.693751"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040931.823165 s.<K~,:h,AJ"J*J2J:JBJnJvJAGz/@A/o/@A/Y~? Au*A &"AA mNA"AZAbAjArAzAAA!^@A2_J{rAi@A> A=ACz%A{AL2ӿA̼*A_:?2A˽:A=BA_:?JA˽RA=٘i)I9i@Y.G J?̼JJJJHF&K YW~?yK AAFŧ7b7s9BB)BIE[[7v@[TW~?[3[[[[BZYY i) ۼI@F?i@< Gӿ))Gӿ=@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040931.863165 s, next control iter: 1743040932.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040932.243165 s.CK~,di,AAףp=J/@AM 4=/@AdY~? A-A_[ &"AAlNA"AZAbAjArAzAAA):?@Ak}rAh@ARA?=A)$ARMAӿAtϼ*AU:?2Ah%ν:A=BAU:?JAh%νRA=٘i)I9h@Y G JͼB=JJJJIF&K YV~?y cAAF7)7u9)BFE[[/pw@["zW~?[8[[[[BZYY i) hIG?i, @< п))пڔ@eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040932.283165 s, next control iter: 1743040932.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040932.663165 s.JK~,q*i,AJ"J*J2J:JI1?BJI1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086586< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743040932.663318F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14431, header.stamp.nsec: 00 temperature: 13.388211* salinity: 33.391670, density: 1025.000000* values[0]: 0.692520F (some fields omitted in printout)A/@A+r/@AX~? AT1A &"AAlNA"AZAbAjArAzAAAvn("@ArA YV~?yv@A"F77j7Ww9)BDE[[Tx@[hW~?[>[[[[BZYY i) I-G?i @{< `ο))`οw@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040932.683165 s, next control iter: 1743040933.063182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040933.083165 s.DQK~, SEi,AA)\µ/@A}b/@AX~? A4A&"AAilNA"AZAbAjArAzAAA,`@A玙rA~g@AZ A?=A!A`OA տAXtܼ*A:@:?2ALѽ:A=BA:@:?JALѽRA=٘i)I9g@Y G JZؼJJJJLF&K Y>V~?yem@AFŧ7ŧ7"y9)B[[y@[sVW~?[(C[[[[ZZ¸BZYY i¸$=) ݼIQMG?i|@ȼ< ˿))˿\@nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040933.103165 s, next control iter: 1743040933.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040933.503165 s.WK~,74`i,AJ"J*J2J:J1?BJ1?nJ95vJAR/@AMy/@AX~? A8A&"AAG~lNA"AZAbAjArAzAAAn7F@A_=krAf@A;A{=AN AA`kֿA*A-6:?2Aҽ:Ay =BA-6:?JAҽRAy =٘i)I9f@Yx G J߼JJJJMF&K YV~?yT?AF)7z9) BAE[[{@[?EW~?[bH[[[[ZZBZYY i) <ѼImG?i?@u< Kɿ))Kɿ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040933.523165 s, next control iter: 1743040933.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14432, header.stamp.nsec: 00 temperature: 13.388563* salinity: 33.391644, density: 1025.000000* values[0]: 0.691225F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040933.923165 s.8^K~,{i,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743040933.923268F (some fields omitted in printout)A{G!0@AW;0@AX~? A<A?&"AA[lNA"AZAbAjArAzAAA/[@AІrA2e@A L<A;=A A`qA 8׿A+*A;:?2Auӽ:Ah4=BA;:?JAuӽRAh4=٘i)I9e@Y G JJJJJNF&K YV~?yD!v?AFŧ7b7|9AB)B>E[[LQ|@[{4W~?[M[[[[ZZBZYY i) żIAG?ii@ < ǿ))ǿJ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040933.943165 s, next control iter: 1743040934.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040934.343165 s.AF777~9)B;E[[}@[+$W~?[S[[[[ZZBZYY i) IG?i@{< oĿ))oĿ@y=تYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743040934.363165 s, next control iter: 1743040934.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14433&, header.stamp.nsec: 0&0 temperature: 13.388918&* salinity: 33.391640&, density: 1025.000000&* values[0]: 0.689717&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040934.763165 s.9kK~,'ذi,AǍ0@Aެ0@AX~? ADAD&"AA3lNA"AZAbAjArAzAAA)̟Ey @A^ۋrA2d@Am;A4M{=ASAA`ؿA*AEH:?2Adս:Aq<BAEH:?JAdսRAq YtV~?y+>AOF7)7L9)B[[ ~@[W~?[X[[[[ZZBZYY i) x^IG?i"@YP< gA¿))gA¿@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040934.803165 s, next control iter: 1743040935.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040935.183165 s.rK~,ki,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743040935.183323F (some fields omitted in printout)A(\0@Aㄵ0@AwX~? AGIAM&"AAkNA"AZAbAjArAzAAA%;d @ACrAlc@AA>6=AAسAٿARԼ*AI:?2Ahս:A;BAI:?JAhսRA;٘i)I9lc@Yj G JJJJJRF&K Y^V~?y1R>AF779)%B9E[[`@[-W~?[^[[[[ZZBZYY i) ITG?i%@b< ֿ))ֿ+@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040935.203165 s, next control iter: 1743040935.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040935.603165 s.84yK~,i,AAQ0@AF0@AHbX~? AMA&"AAkNA"AZAbAjArAzAAADU@A#=rA5b@AtRAD<AjApAtڿA\*AWF:?2Ak8ֽ:ABAWF:?JAk8ֽRA٘i)I9b@Y G J&ļJJJJTF&K YWIV~?y67=AF7779@B)*B6E[[鑀@[V~?[c[[[[ZZBZYY i) ƗIH?i)@)< o))o䳙@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743040935.623165 s, next control iter: 1743040936.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14434 , header.stamp.nsec: 0 0 temperature: 13.389269 * salinity: 33.391617 , density: 1025.000000 * values[0]: 0.688139 F (some fields omitted in printout)WIV~?)67 rAdjusting time to match Gazebo time: 1743040936.023165 s.ZK~,{j,AJ"J*J2J:J)0?BJ)0?nJ85vJAHz.1@A p!1@ALX~? A_RAQ&"AAٳkNA"AZAbAjArAzAAA- ˴N@A5brAFb@AL^AP,<A&ZAc+A`>ۿAI?*A>:?2A/hֽ:A BA>:?JA/hֽRA ٘i)I9Fb@Y G JJJJJUF&K Y3V~?y<=AF9).B[[*@[V~?[qi[[[[ZZBZYY i) zIBH?i{-@<  )) L@oYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040936.043165 s, next control iter: 1743040936.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040936.443165 s.:ÆK~,J]j,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743040936.443311F (some fields omitted in printout)Aq= c1@AVV1@A7X~? AWAC&"AAkNA"AZAbAjArAzAAAVX)$O@A(rA a@AA:ɨA A`AuܿA ;*A3:?2ASֽ:ABA3:?JASֽRA٘i)I9a@Y{ G JfJJJJVF&K YV~?yBU=AF)7ŧ7w9?B)0B3E[[=@[rV~?[,o[[[[ZZBZYY i) .IVhH?i1@)< ))8@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040936.463165 s, next control iter: 1743040936.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14435, header.stamp.nsec: 00 temperature: 13.389530* salinity: 33.391594, density: 1025.000000* values[0]: 0.687151F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040936.863165 s.+K~,>7j,AJ"J*J2J:J/?BJ/?nJt85vJA1@A:1@A#X~? A\A&"AAskNA"AZAbAjArAzAAAdRkW@AorA?a@A;A]AA ƘAzܿA\m*A&:?2Aֽ:ABA&:?JAֽRAY!^n@tyA;ٓHg>_?`?@@9?~??4b?f?)!^n@ I٘i)I9a@YS G JJpEJJJXF&Kz> Yf V~?yHp=AF{7j7B9)2B0E[[[@[&V~?[u[[[[ZZBZYY im=) 9pI"H?ip4@< H))H}@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040936.883165 s, next control iter: 1743040937.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040937.283165 s.7RK~,Rj,AA(\1@AߤiP1@AX~? AaAt&"AATkNA"AZAbAjArAzAAA?A;rAa@Abu,<AIAgAKAݿA 0*A:?2A0׽:ACмBA:?JA0׽RACм٘i)I9a@Y= G JJJJJYF&K YU~?y>O=AFb77 9)3B[[n@[GV~?[z[[[[ZZBZYY i=) ^IH?im7@=< 峿))峿i@2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040937.303165 s, next control iter: 1743040937.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14436., header.stamp.nsec: 0.0 temperature: 13.389665.* salinity: 33.391632., density: 1025.000000.* values[0]: 0.686713.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040937.703165 s.ֺK~,mj,AJ"J*J2J:J/?BJ/?nJV85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068805< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743040937.703321F (some fields omitted in printout)AQ2@A4D1@AnW~? A*fA\"&"AA5kNA"AZAbAjArAzAAAt]?Ax#rA}a@AT<A24AAAJ޿A[";*A:?2AA=׽:A BA:?JAA=׽RA 漙٘i)I9}a@Y< G J¹B=JJJJZF&K YU~?yU=AF7)7׌9).E[[a@[խV~?[[[[[BZYY i) ^KIH?i:@+< ))\@r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040937.723165 s, next control iter: 1743040938.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040938.123165 s.7K~,]j,AAG:2@A2o-2@AW~? AokAȼ&"AAkNA"AZAbAjArAzAAA#y>?Ab[rA1a@A <ApB)1B*E[[F#@[֠V~?[[[[[BZYY i) 9II?i>@< g*))g*AE@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040938.143165 s, next control iter: 1743040938.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040938.543165 s.IK~,âj,AJ"J*J2J:JBJnJvJA= ףp2@Ac2@A;W~? ApAT&"AAjNA"AZAbAjArAzAAA긽?AmrAa@AR~DA5wAԆA \A߿AK/<*A:?2Atֽ:AvBA:?JAtֽRAv٘i)I9a@Yr G J <JJJJ]F&K YU~?yGb=AF{7{7m9)/B[[;@[FV~?[[[[[BZYY i) 'II?iB@%G< Ҭ))Ҭ6۝@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040938.583165 s, next control iter: 1743040938.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14437, header.stamp.nsec: 00 temperature: 13.389662* salinity: 33.391582, density: 1025.000000* values[0]: 0.686857F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040938.963165 s.wK~,줽j,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068805< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743040938.963320F (some fields omitted in printout)Affff2@AwF[2@A)W~? AWvAm&"AAjNA"AZAbAjArAzAAAh?AV$rAz*b@AAۇABA A)4AQrg<*A9?2Ap|ֽ:ABA9?JAp|ֽRAYt@8yه3=ٓH ??"@`??`o@?)t@ I٘i)I9*b@Y G JI<JJJJ^F&K,x> Y2U~?y2i7>A8F)7ŧ779=B),B'E[[SP@[V~?[>[[[[BZYY id=) Ii"E@T< 3v))3vNr@>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040938.983165 s, next control iter: 1743040939.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040939.383165 s.صK~,8j,AJ"J*J2J:JBJnJvJA(2@Ah2@AtW~? A{A}&"AAjNA"AZAbAjArAzAAA`7?A"rrAb@A ^AAH A ABABZ<*A9?2Arֽ:ABA9?JArֽRA٘i)I9b@Y G J||<JJJJ`F&K YU~?yp>AF77j79>B)*B(E[[@[|V~?[u[[[[BZYY i) čIiG@U< {)){@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040939.403165 s, next control iter: 1743040939.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14438", header.stamp.nsec: 0"0 temperature: 13.389539"* salinity: 33.391590", density: 1025.000000"* values[0]: 0.687514"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040939.803165 s.|AK~,gj,AA3@A3@AW~? AA&"AAjNA"AZAbAjArAzAAAa 9?A0 rAc@A*A%A~ A ]AA <*A9?2A[ֽ:A"BA9?JA[ֽRA"٘i)I9c@Y1 G J<JJJJaF&K Y>U~?y w>AF77̕9=B)%B%E[[n|@[pV~?[[[[[BZYY i) HIiK@= ť))ťi@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040939.823165 s, next control iter: 1743040940.203181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040940.223165 s.gK~,Hk,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.055837< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743040940.223295F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG3@An:3@A*W~? AA~&"AAejNA"AZAbAjArAzAAAA)G?A"rAc@A,AuUAN AjA 7A<*A:?2A{׽:AS BA:?JA{׽RAS ٘i)I9c@Y G J&<JJJJbF&K YuU~?y}I?AF77779)!B[[9@[eV~?[[[[[BZYY i) dһIiN@>= r))r43@ye=*YFFF]p:Waiting for Gazebo time sync: latest Gz time: 1743040940.243165 s, next control iter: 1743040940.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040940.643165 s.K~,0*)k,AA ףp}3@AwDfp3@AwW~? AA)&"AAwmjNA"AZAbAjArAzAAApK?AJK/rA!d@AY;A#A AO߿AA *<*A" :?2Aa׽:A4BA" :?JAa׽RA4٘i)I9!d@Y G J<B=JJJJdF&K YIdU~?yᄨ?AF7b9)B"E[[!@[ [V~?[K[[[[BZYY iԆ=) 䶳IiR@= "))"Ǡ@`*YtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14439, header.stamp.nsec: 00 temperature: 13.389314* salinity: 33.391567, density: 1025.000000* values[0]: 0.688511F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743040940.663165 s, next control iter: 1743040941.043187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743040941.063165 s.K~,[ Dk,AJ"J*J2J:JBJnJvJA33333@A}(3@ArfW~? AAC&"AA"SjNA"AZAbAjArAzAAAғİAPrAd@AאW<AbAAu޿AAo=<*Ag:?2AT}׽:ABAg:?JAT}׽RAYi{@y_)X<ٓH ?'V?`?p??@?)i{@ I٘i)I9d@Y. G J<<C=J[JJJeF&Kx> Y,UU~?yP @AFj7Z7-9)B[[M:@[PV~?[[[[[BZYY i) 9yIiT@$= KΞ))KΞH\@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040941.083165 s, next control iter: 1743040941.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040941.483165 s.u_K~,^k,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065199< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743040941.483273F (some fields omitted in printout)A\3@A/13@AUW~? AיAh<&"AAi9jNA"AZAbAjArAzAAA BпAtrA;e@Ai@<A%CASAݿA@{+A띦<*A:?2AX׽:A5BA:?JAX׽RA5٘i)I9;e@Y G J<JJJJfF&K Y FU~?yq@AF77779)B E[[Έ@[FV~?[)[[[[BZYY i) xnIiCW@ = {)){@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040941.523165 s, next control iter: 1743040941.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14440, header.stamp.nsec: 00 temperature: 13.389108* salinity: 33.391541, density: 1025.000000* values[0]: 0.689637F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040941.903165 s.K~,yk,AJ"J*J2J:J0?BJ0?nJ95vJAQ4@A[ 4@AYEW~? A#A}&"AAM jNA"AZAbAjArAzAAAZŠd1GݿAHrAe@A;AAA@'ݿAwAd<*A:?2A* ׽:A_BA:?JA* ׽RA_٘i)I9e@Y G JȦ<JJJJhF&K Y6U~?y/@AF7ž9)B[[b@[]=V~?[[[[[BZYY i) 1Ii0Z@e = ;,));,̄@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040941.943165 s, next control iter: 1743040942.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743040942.323165 s.{K~,:k,AAGzT4@A<-?pG4@Ak5W~? AAF&"AAjNA"AZAbAjArAzAAA/S&A.JorAaTf@A2AovAA[ܿA@A[<*A:?2Aֽ:AQBA:?JAֽRAQ٘i)I9Tf@Y. G JI<JJJJiF&K Y'U~?y=AAFŧ7b79,B)BE[[@[P4V~?[ƨ[[[[BZYY i) Ii]@? = ߗ))ߗ@y=R*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040942.343165 s, next control iter: 1743040942.723180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14441*, header.stamp.nsec: 0*0 temperature: 13.388861** salinity: 33.391521*, density: 1025.000000** values[0]: 0.690754*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040942.743165 s.WK~,qk,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065199< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743040942.743326F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=4@A1}4@A%W~? A A&"AAiNA"AZAbAjArAzAAA֝ A:OMfrA~f@ALJAAA ۿAH A֥<*A:?2Aֽ:ABA:?JAֽRA٘i)I9f@Y G JѦ<JJJJjF&K YU~?yAAFW9)B[[#@[+V~?[̨[[[[BZYY i) dIi/a@#= 󖕿))󖕿@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040942.783165 s, next control iter: 1743040943.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743040943.163165 s.v}K~,qk,AA4@Ak 4@AW~? AAH&"AAiNA"AZAbAjArAzAAAb"AD mrA jg@A NAӋA7AIڿA (QA <*A+:?2Aֽ:AqBA+:?JAֽRAqY@)yЋ&OٓH ܿ?c?kΡܿ[? v?4ՉC?)@ I٘i)I9jg@Y G J<J!o<JJJlF&Kx> Y U~?yﱨBA)FZ7SI7"9+B)BE[[@[]#V~?[<Ө[[[[BZYY i) /8Iic@U= {H)){H=@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040943.203165 s, next control iter: 1743040943.563178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040943.583165 s.K~,Rk,AJ"J*J2J:JBJnJvJA)\4@AZ4@A,W~? ASAD&"AA.iNA"AZAbAjArAzAAAleAh)rAeg@A˻AA|AtڿAA<*A:?2A_׽:AD BA:?JA_׽RAD ٘i)I9g@Y( G J<JJJJmF&K YyT~?yй`BAF7779)B[[ˮ@[sV~?[٨[[[[BZYY i) H:Ii^e@!= S))SФ@غ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040943.603165 s, next control iter: 1743040943.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14442, header.stamp.nsec: 00 temperature: 13.388622* salinity: 33.391506, density: 1025.000000* values[0]: 0.691880F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040944.003165 s.z K~,U4l,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065199< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743040944.003300F (some fields omitted in printout)AR+5@A1z5@AV~? AAC&"AAIiNA"AZAbAjArAzAAAY܎dArAkh@A)c;AAA4ٿA*A;<*A:?2A{Q׽:AZBA:?JA{Q׽RAZ٘i)I9kh@Yt G JK<JJJJnF&K YT~?yBAF)7ŧ79)B[[EA@[V~?[[[[[BZYY i) {;Ii h@0= k))k@c@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040944.043165 s, next control iter: 1743040944.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040944.423165 s.uK~,l,AJ"J*J2J:JBJnJvJA{Ga5@A>T5@A7V~? AǩA&"AAiNA"AZAbAjArAzAAAKri5ArAeh@A9<A5ۄAfAaؿAA/r<*AK:?2A ~׽:AFBAK:?JA ~׽RAF9٘i)I9h@Y G J$<JJJJpF&K Y;Iik@nt= Kk))Kk@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040944.463165 s, next control iter: 1743040944.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14443, header.stamp.nsec: 00 temperature: 13.388416* salinity: 33.391491, density: 1025.000000* values[0]: 0.692908F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040944.843165 s. K~,5l,AAp= 5@A5@AV~? AΩA7&"AAiNA"AZAbAjArAzAAA7Aa+rA!Ti@AdY<AoA9A ׿A`TZA<*A:?2Adr׽:ABA:?JAdr׽RA٘i)I9Ti@YG J`<JJJJqF&K YT~?yuѨyCA Fb77M9)BE[[ d@[0V~?[[[[[BZYY i=) &|;Iin@\= O'))O'@3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040944.863165 s, next control iter: 1743040945.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040945.263165 s.K~, elevatorAngleAction: 0.074047< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743040945.263302F (some fields omitted in printout)A5@AįXÿ5@AV~? AթA&"AAniNA"AZAbAjArAzAAA$(A9RdrAi@A<A<A~6AֿA@dAH<*A:?2A5׽:ABA:?JA5׽RAY:@Gy1<ٓHoֿ?W?'@ֿ?@mR?׀??):@ I٘i)I9i@YFG J<JQ.<JJJsF&Kx> YT~?y٨CAG F779)B)ۯBE[[5@[U~?[[[[[BZYY i) V|;Ii#p@= އ))އ0@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040945.283165 s, next control iter: 1743040945.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 144442, header.stamp.nsec: 020 temperature: 13.3882272* salinity: 33.3914912, density: 1025.0000002* values[0]: 0.6938252F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040945.683165 s.lK~,kl,AA(\6@Aio5@AV~? AݩA$&"AA[iNA"AZAbAjArAzAAA!EAbrA^3j@AAFiAA@JտA@A<*AN:?2Aֽ:ArBAN:?JAֽRAr٘i)I93j@YG J<JJJJtF&K YT~?y)DAFj7Z79)دB[[⇎@[U~?[U[[[[BZYY i) X;Ii&r@"= ))ݩ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040945.683165 s, next control iter: 1743040946.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743040946.103165 s.!K~,l,AJ"J*J2J:JBJnJvJAQ86@A#F+6@AйV~? AKA&"AA,IiNA"AZAbAjArAzAAA/A7!rA]j@A?"AA1%A@ տA A<*A :?2Aֽ:ABA :?JAֽRA٘i)I9j@YG JY<JJJJuF&K YT~?y.DAFZ7SI79)ԯB[[ @[bU~?[[[[[BZYY i) H;Iit@ȁ= SS))SS;@yB=Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040946.123165 s, next control iter: 1743040946.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040946.523165 s.'K~,|l,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074047< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743040946.523288F (some fields omitted in printout)AHzn6@A2: a6@AaV~? AA &"AAt7iNA"AZAbAjArAzAAAr_A)@LrAk@A]\AAA .ԿA;AW<*AR:?2Ajֽ:ABAR:?JAjֽRA٘i)I9k@YG J͆<JJJJwF&K YT~?ylDAF77j7w9)ѯBE[[@[CU~?[[[[[BZYY i) |;IiOw@KG= ))˨@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040946.543165 s, next control iter: 1743040946.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14445, header.stamp.nsec: 00 temperature: 13.388035* salinity: 33.391460, density: 1025.000000* values[0]: 0.694780F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040946.943165 s.[d.K~,O]l,AJ"J*J2J:J1?BJ1?nJ:5vJAq= ף6@A]ʖ6@AmV~? AA^}&"AAu&iNA"AZAbAjArAzAAAqrA5x rAk@A #AubAA@vOӿA@oAd<*A:?2Aֽ:A BA:?JAֽRA ٘i)I9k@YXG J<JJJJxF&K YT~?y0EAF77B9)̯BE[[{9@[U~?[[[[[BZYY i) 2 l,AA6@AR 6@AV~? ANAw&"AA2iNA"AZAbAjArAzAAAAuΐrAk@ACAA=A@lҿA`_Al<*A9?2A%׽:ABA9?JA%׽RAY ~@;y٠ٓH]п@R?@ ?Egп~;? Y?T`,?) ~@ I٘i)I9k@YG Jy<JHJJJyF&Kx> YwT~?y.EA;F7 9)ɯB[[[ʐ@[.U~?[w[[[[BZYY i) r" elevatorAngleAction: 0.074047< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743040947.783287F (some fields omitted in printout)A(\7@AIQ7@AV~? AAD\&"AAiNA"AZAbAjArAzAAA;UA/ rAdl@A <A8A.AѿAxAUK<*A9?2A;h׽:An\BA9?JA;h׽RAn\٘i)I9dl@YG Jǃ<JJJJ{F&K Y:T~?y EAF{7{7ط9)ůB[[Z@[6U~?[N[[[[BZYY i) ·, elevatorAngleAction: 0.083218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743040949.043298F (some fields omitted in printout)A= ף7@A 7@AtV~? AA&"AAhNA"AZAbAjArAzAAAO|A sAm@AS_;A١AV߿AͿA LA3<*A9?2A4ֽ:A.BA9?JA4ֽRA.٘i)I9m@YG Jߌ<JJJJF&K YT~?y<%FAF789)B[[: @[U~?[1[[[[BZYY i) {x[A9jsA6n@A̻A*AAݿA4˿AqAՖ<*AW9?2A,ֽ:A). BAW9?JA,ֽRA). Y@3ݿy)OͻٓH@Ŀ?ڑ? pĿ`?`2a?y?)@ I٘i)I96n@YG Jh<B=JeJJJF&Kx> YT~?y-XGA3ݿF7ŧ79)B[[@[JU~?[8[[[[BZYY i) j elevatorAngleAction: 0.083218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743040950.303305F (some fields omitted in printout)AQ8@A{NzD8@A]V~? A/A &"AAhhNA"AZAbAjArAzAAA2ǜ Av])3sAM[[[[BZYY i) A elevatorAngleAction: 0.083218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743040951.563320F (some fields omitted in printout)A33338@A(8@AKV~? A^GA &"AA'hNA"AZAbAjArAzAAA+L Ad~')sAp@A =<A&AпAৈ¿AAZ<*A9?2A`׽:A BA9?JA`׽RA Y@&пyb=<ٓHA`M?`p}k૿[?@9?? ?)@ I٘i)I9p@YG J<JJJJF&Kx> YkT~?yYPIA&п Fb779)B[[b@[U~?[Z[[[[BZYY i) 1R elevatorAngleAction: 0.083218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743040952.823294F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz9@Ap9@A>V~? AA_Ab@ &"AAhNA"AZAbAjArAzAAAeJ A6C/8sAr@AA勪A|\ȿA ʹA@A<*A9?2A ֽ:ABA9?JA ֽRA٘i)I9r@YG J^<JJJJF&K Y#gT~?ysJA%F{7j7X9)BE[[ Ŀ[U~?[qo[[[[BZYY i)  YfT~?ypxKA ÿ'FZ7Z79)B[[󞿿[kU~?[ }[[[[BZYY i) P elevatorAngleAction: 0.083218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743040954.083294F (some fields omitted in printout)A)\5:@AM(:@AQ6V~? AVwAj&"AAyhNA"AZAbAjArAzAAAV AwuFsAt@ADAʮA#A 笿AbfA<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9t@YG J<C=JJJJF&K Y0hT~?y9KA)Fŧ7b79)B[[3h[7U~?[Ճ[[[[BZYY i) \G J<JJJJF&K YiT~?yaLA*Fb779)BE[[m2[cU~?[[[[[BZYY i) F elevatorAngleAction: 0.092181< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743040955.343298F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= :@Am%:@A2V~? AA&"AA%shNA"AZAbAjArAzAAA"9cS AwUsAlv@AY<AװA挸AWAnvA.<*Aڧ9?2A;׽:ABAڧ9?JA;׽RA٘i)I9v@Y G J<JJJJF&K YlT~?yKMA-F79)tB[[ʶ[U~?[[[[[BZYY i) /f YGpT~?yHMA.Fb779-B)E[[[U~?[Ǟ[[[[BZYY i) ; elevatorAngleAction: 0.092181< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743040956.603276F (some fields omitted in printout)AQx;@AjGk;@A3V~? AA&"AAshNA"AZAbAjArAzAAA% AOmdsAx@AXܻA뵽AA?AhnA?<*A9?2A>ֽ:AKBA9?JA>ֽRAK٘i)I9x@YIG JQ<JJJJF&K YxT~?y©NA1F77x9)iB[[;-[U~?[#[[[[ZZZZ¸>BZYY i¸>B) 9?2A 6ֽ:Am BA>9?JA 6ֽRAm ٘i)I9z@Y5G J<JJJJF&K YT~?yԩOA3F777 9.B)]BE[[uȫ[U~?[\[[[[ZZZZBZYY i) wo,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.081671< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743040957.863305F (some fields omitted in printout)A<@A> <@A9V~? AܿAe&"AA {hNA"AZAbAjArAzAAA8Խ A׿g'ssA9z@AAA"A`޳?A 2NAp=*A9?2A;{ֽ:A#¼BA9?JA;{ֽRA#¼Y2Ǘ@]yxٓH ?f??1?:|?@Qt"?)2Ǘ@ I٘i)I9z@YG JU=B=J<JJJF&Kw> YT~?yܩ PA5F79)VB[[[U~?[[[[[ZZZZBZYY i) [!hNA"AZAbAjArAzAAAA A xsA{@A;A|AsA?AT@As<*AC9?2AYֽ:AqBAC9?JAYֽRAq٘i)I9{@YCG J=C=JJJJF&K YT~?y!rPA6F79)OB[[Ma[}U~?[Ʃ[[[[ZZZZBZYY i) mJJJF&KLx> YT~?yQA ;F79)>B[[U[V~?[f[[[[ZZZZBZYY i@x) B΃Fj7Z7c91B)!E[[,[#V~?[&[[[[ZZZZBZYY i) ba.YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743040960.823165 s, next control iter: 1743040961.203181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743040961.223165 s.gK~,HNp,AJ"J*J2J:J?BJ?nJ5vJAz=@A=@AW`V~? A4A %"AAPhNA"AZAbAjArAzAAA.Z AљsAS~@AdlAi1,=A8A C?A@A*A@9?2Aֽ:A*<BA@9?JAֽRA*<٘i)I9~@YG J9JJJJF&K YT~?yQA?F777.9)B$E[[Gŕ[4V~?[[[[[BZYY i) 6;@AW'g(&>@A(oV~? AA%"AAhNA"AZAbAjArAzAAAJ A%oCsA|/~@A<Aȴq=A%A =?AXA-*A9?2A8 ֽ:A=BA9?JA8 ֽRA=YG@yq=<ٓHY?^?fƑ?Y?@A17?a?)G@ I٘i)I9/~@YG J# J>JJJF&Kv> YT~?y0AQABF779)AB%E[[Ò[@AGg[>@APwV~? AXAE%"AAhNA"AZAbAjArAzAAA)-ABKsA^}@Alb<Ajv=AՕA c?A2Aɧa*A9?2Aս:A2=BA9?JAսRA2=٘i)I9}@YG JEJJJJF&K YXT~?y8PACF779)CB[[_[EV~?[[[[[BZYY i) p@A:>@AV~? AAm%"AAhNA"AZAbAjArAzAAAN0[A-4vsAs}@Azj6<A(=AA@?A@% A *A9?2A\.ֽ:A=BA9?JA\.ֽRA=٘i)I9s}@YBG JxJJJJF&K YT~?y?PAEFX93B)HB(E[[,[OV~?[8 [[[[BZYY i)  @Aqn>@A V~? A%AI%"AAhNA"AZAbAjArAzAAA%K{}A݄3sA{|@AD,;Aܓ=AFA?AA[|*A9?2Aֽ:A` =BA9?JAֽRA` =٘i)I9|@YG J^JJJJF&K YU~?yGMPAFF{7{7#9)KB[[[XV~?[J[[[[BZYY ih ) ~q;Ii2@8= vá))váváyɁcn˪YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743040963.343165 s, next control iter: 1743040963.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14462*, header.stamp.nsec: 0*0 temperature: 13.567470** salinity: 33.375019*, density: 1025.000000** values[0]: 0.580884*F (some fields omitted in printout)6U~?)6G rAdjusting time to match Gazebo time: 1743040963.743165 s.W;K~,p,AJ"J*J2J:J?BJ?nJ5vJAףp= ?@A 2>@AȒV~? A-AF%"AAIhNA"AZAbAjArAzAAAbkzݒAPaƵsA,z|@AA׈=A@A?A A8*A9?2AXֽ:A=BA9?JAXֽRA=٘i)I9z|@YG J發JJJJF&K YtU~?yOOAGFŧ7b794B)PB+E[[Ŋ[bV~?[M[[[[BZYY i) ";Iiw@8= F))FFyc5ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040963.783165 s, next control iter: 1743040964.143181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743040964.163165 s.y}BK~,q q,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.064963< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743040964.163281F (some fields omitted in printout)A@?@A2?@AV~? Ap4At%"AAD iNA"AZAbAjArAzAAASAEOsA{@AXA2=AꁿA.?AAǹ*A9?2AL ׽:A$=BA9?JAL ׽RA$=Y@ y˖=6KYٓH?`:.?W? ?`Jk(?)@ I٘i)I9{@YYG J˞Jh=JJJF&KNx> YT!U~?yAWOA IF7795B)UB,E[[[mV~?[@[[[[BZYY i) 8;Iiӏ@p8= .))..ymЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040964.183165 s, next control iter: 1743040964.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040964.583165 s.HK~,S%q,AJ"J*J2J:JBJnJvJA)\u?@A0h?@AV~? A;Af%"AAiNA"AZAbAjArAzAAAAϾsAm{@A,oIA=A~A ?A@OAJ*Aݳ9?2A ֽ:Ah=BAݳ9?JA ֽRAh=٘i)I9m{@YG JJJJJF&K Y40U~?y^0OAJF)7ŧ796B)ZB/E[[`[wV~?[&$[[[[BZYY i) ;Ii_@K7= 6c))6c6cѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040964.603165 s, next control iter: 1743040964.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14463, header.stamp.nsec: 00 temperature: 13.567655* salinity: 33.375015, density: 1025.000000* values[0]: 0.580308F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040965.003165 s. PK~,n4@q,AAR?@AKz?@AV~? ACA%"AAs+iNA"AZAbAjArAzAAAťA*fCsAz@AԚAT=AyA`Y?AA*A9?2Aֽ:A͔=BA9?JAֽRA͔=٘i)I9z@YG JJJJJF&K  9Y?U~? 9y9fNAKF777N9)_B[[-[V~?[*[[[[BZYY i) AY r/]sA1y@AV<As=ADFjA ?AtA*Au9?2AHֽ:A =BAu9?JAHֽRA =Yˤ@$ jyp= YW<ٓH{?\?!ؠ?@TH?p/* ي?`?)ˤ@ I٘i)I91y@YG JB=J*JJJF&Kx> YnU~?y*|MA jOF79)nB[[${[V~?[/;[[[[BZYY i) ݅:IiN@f&6= SH))SHSHqȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040966.283165 s, next control iter: 1743040966.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 144652, header.stamp.nsec: 020 temperature: 13.5681112* salinity: 33.3750342, density: 1025.0000002* values[0]: 0.5790672F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040966.683165 s.ljK~,cq,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.064963< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743040966.683264F (some fields omitted in printout)A(\@@A;Mu@@AV~? A_A%"AAhtiNA"AZAbAjArAzAAA"A$asAx@A`-;AV=AZdA?A7A0*A9?2A/ֽ:A=BA9?JA/ֽRA=I٘i)I9x@YUG JC=JJJJF&K YOU~?y#r,AAYA@ALA@AWW~? AzA-%"AAiNA"AZAbAjArAzAAAmִ(A t1sArv@AA=AxOA?A,A\*A89?2Aֽ:Api<BA89?JAֽRApi YvU~?ytKAOVF9)B[[ e[V~?[V[[[[BZYY iB陽) s]pIi@ 3= ))ཀྵbYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040968.403165 s, next control iter: 1743040968.763179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14467&, header.stamp.nsec: 0&0 temperature: 13.568470&* salinity: 33.375053&, density: 1025.000000&* values[0]: 0.577686&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040968.783165 s.VK~,2r,AJ"J*J2J:J?BJ?nJ$5vJA(\A@APA@A+W~? A>A9%"AACiNA"AZAbAjArAzAAA%ѕcA?1sAT8v@AS9A/=AJA?AAт*A 9?2Aֽ:A<BA 9?JAֽRA<٘i)I98v@YG J΍JJJJF&K YU~?y٤bKAWFj7j7n9KAYF7799)B[[8\[W~?[ a[[[[BZYY i) Ii@sV1=  H)) H HeYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040969.223165 s, next control iter: 1743040969.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040969.623165 s._K~,~gr,AJ"J*J2J:JBJnJvJAGA@AA@AEKW~? AA%"AAjNA"AZAbAjArAzAAA\ؿA,sAKu@A`<AB=AΑ@A_?ARA7*A9?2AHTֽ:A=BA9?JAHTֽRA=٘i)I9Ku@YKG JJJJJF&K YV~?yJAZF77779>B)BDE[[W[OW~?[1f[[[[BZYY i) ջIi@0= k))kkySΙYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040969.663165 s, next control iter: 1743040970.023184 s, wait time: 0.360019 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14468 , header.stamp.nsec: 0 0 temperature: 13.568620 * salinity: 33.375088 , density: 1025.000000 * values[0]: 0.577448 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040970.043165 s.K~,Âr,AA= ף0B@A#B@A[W~? AOA%"AA='jNA"AZAbAjArAzAAA,slDȿAv\sAt@A-<A;=A0M;A`7?A@_A刼*A9?2Aֽ:AP=BA9?JAֽRAP=٘i)I9t@YG JRJJJJF&K Y.V~?ySJA[F79)BGE[[;WS[ W~?[Bk[[[[BZYY i) Ii@0= v$))v$v$wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040970.083165 s, next control iter: 1743040970.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743040970.463165 s.XK~,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: -0.075152< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743040970.463288F (some fields omitted in printout)AfffffB@AC(^YB@AlW~? AuA!%"AA}@jNA"AZAbAjArAzAAA0 ?AOeAsAet@Ad:A#=A5A`?A2A*A9?2Auֽ:AN|=BA9?JAuֽRAN|=YO@U5y=QP:ٓH4? .? ը?@@?S@ΰ@_?O?)O@ I٘i)I9et@YG JEB=J8JJJF&K1x> Y)V~?yȽIA5]F{7{79)B[[?N[.W~?[9p[[[[BZYY i)  Ii@ /= L))LLCYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040970.503165 s, next control iter: 1743040970.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14469, header.stamp.nsec: 00 temperature: 13.568762* salinity: 33.375065, density: 1025.000000* values[0]: 0.576941F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040970.883165 s.yK~, YoV~?y٪-HAdF777!9)BUE[[8[L}W~?[[[[[BZYY i) 6WIi@)= `I=))`I=`I=ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040972.583165 s, next control iter: 1743040972.963182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14471, header.stamp.nsec: 00 temperature: 13.569035* salinity: 33.375080, density: 1025.000000* values[0]: 0.575997F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040972.983165 s.K~,>s,AJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJvJ( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075152< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743040972.983310F (some fields omitted in printout)A\C@AC@AW~? AA9x%"AAvjNA"AZAbAjArAzAAAr?AǪ tAq@AwO<A~=A[A2u?A@kb߿Aמ*A9?2Aj7ֽ:A- =BA9?JAj7ֽRA- =٘i)I9q@YG JC=JJJJF&K YV~?yުGAeF77Y#9)B[[?14[W~?[o[[[[BZYY i) gIi@I(= =))==̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040973.003165 s, next control iter: 1743040973.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040973.403165 s.&K~,Ys,AAQC@A.pyC@AW~? AQ«A%"AAkNA"AZAbAjArAzAAA!l?Ak7+tAq@AԕS<A7=AA?A E޿A;*A9?2APֽ:Aө=BA9?JAPֽRAө=٘i)I9q@YG JJJJJF&K YV~?yhGAfF777#%9CB)BXE[[/[W~?[ِ[[[[BZYY iѬ) ?MvIi@S'= =))==ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040973.423165 s, next control iter: 1743040973.803179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14472", header.stamp.nsec: 0"0 temperature: 13.569161"* salinity: 33.375099", density: 1025.000000"* values[0]: 0.575466"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040973.823165 s.K~,-ts,AJ"J*J2J:JQ?BJQ?nJy5vJAGzD@AmsD@AnX~? AǫAu%"AAkNA"AZAbAjArAzAAAp+QT?A%3tAp@Acf;A_=AIY A?AFݿA*A9?2Aֽ:A- =BA9?JAֽRA- =٘i)I9p@YlG JIB=JJJJF&K YV~?yGAhFj7Z7&9)B[E[[G:+[1W~?[.[[[[BZYY i) ʂIi@a&= =))==KЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040973.843165 s, next control iter: 1743040974.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040974.243165 s.K~,~s,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084384< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743040974.243312F (some fields omitted in printout)Aףp=JD@A"1=D@AX~? A̫AB%"AA=kNA"AZAbAjArAzAAAg@A;A3tA p@AcAܘ=AEAb?A .ݿAO*A=9?2AZֽ:AvM =BA=9?JAZֽRAvM =٘i)I9 p@YG JZC=JJJJF&K YV~?yFAiF77(9DB)įB^E[[&[W~?[l[[[[BZYY i) lIip@+%= pQ >))pQ >pQ ><ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040974.263165 s, next control iter: 1743040974.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040974.663165 s.K~,qs,AJ"J*J2J:J-?BJ-?nJS5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14473, header.stamp.nsec: 00 temperature: 13.569355* salinity: 33.375118, density: 1025.000000* values[0]: 0.574913F (some fields omitted in printout)AD@A#3rD@A)*X~? AѫA%"AA\kNA"AZAbAjArAzAAAve@AD t9tA|o@A;<A8=AnA`5?AjܿAH*A%9?2A/׽:A =BA%9?JA/׽RA =Yӱ@y46=N<ٓH@??`? &޿@O?@+UbP`?)ӱ@ I٘i)I9o@YG JJ <JJJF&K6x> Y W~?y8:FAjF7ŧ7*9EB)ɯB_E[[{C"[dW~?[[[[[BZYY i) MIi@[#= 1>))1>1>yjժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040974.683165 s, next control iter: 1743040975.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040975.083165 s.DK~,Ss,AA)\µD@A ID@A?X~? Ag֫A%"AA|kNA"AZAbAjArAzAAAP3@AA+tAo@A\A =AvA`"?AۿA=*A9?2A%!׽:A*C=BA9?JA%!׽RA*C=٘i)I9o@YxG JʞJJJJF&K Yu$W~?y~EAlF77N,9FB)ίBbE[[[[W~?[[[[[BZYY i) wIis}@5"= `$->))`$->`$->Z٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040975.103165 s, next control iter: 1743040975.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040975.503165 s.K~,D4s,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084384< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743040975.503281F (some fields omitted in printout)J"J*J2J:JBJnJvJARD@ATN{D@A-TX~? A۫A#%"AAkNA"AZAbAjArAzAAAB3@Ab tAzn@AAG=AuA E=?AڿA*A&9?2Aֽ:A=BA&9?JAֽRA=٘i)I9zn@Y$G JʣJJJJF&K Y#=W~?yjEAmF)7b7.9)ӯBeE[[kE[W~?[[[[[BZYY i) IiM{@= = )?>)))?>)?>ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040975.523165 s, next control iter: 1743040975.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14474, header.stamp.nsec: 00 temperature: 13.569486* salinity: 33.375107, density: 1025.000000* values[0]: 0.574359F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040975.923165 s.5K~,s,AA{G!E@AJΉ=E@AiX~? A߫A%"AA,kNA"AZAbAjArAzAAA  @Ap"tA m@AF:A [=AipAـ?A ڿA>*A9?2Anֽ:Akz=BA9?JAnֽRAkz=٘i)I9m@YG JJJJJF&K YUW~?y EAnF77{7/9GB)دBhE[[[* X~?[k[[[[BZYY i) Iiy@= p=Q>))p=Q>p=Q>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040975.943165 s, next control iter: 1743040976.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040976.343165 s.<K~,t,AJ"J*J2J:J?BJ?nJ5vJAp= WE@AMdIE@AcX~? AAq%"AAkNA"AZAbAjArAzAAAZ\T @A>&%tAQm@A &<A=A4eھA_?ACKٿA*A9?2A"ֽ:A=BA9?JA"ֽRA=٘i)I9Qm@YpG JBJJJJF&K Y~nW~?yPDApF19)ܯB[[8[X~?[1[[[[BZYY i) 5Ii!x@= \c>))\c>\c>YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743040976.363165 s, next control iter: 1743040976.743178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14475*, header.stamp.nsec: 0*0 temperature: 13.569674** salinity: 33.375107*, density: 1025.000000** values[0]: 0.573753*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040976.763165 s.: K~,,0t,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084384< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743040976.763293F (some fields omitted in printout)ǍE@Ah<E@AjX~? A\A%"AA kNA"AZAbAjArAzAAA / @AU}!(tA l@A a<Ab=A5 оAM?A`1}ؿA *A9?2Aֽ:A*=BA9?JAֽRA*=Y@Ͼy^=Va<ٓHgN? M?A ?&ٿc?`s)@%}!?:?)@ I٘i)I9l@YG JB=Jʆ<JJJF&Kw> YoW~?y(DAϾqFb77y39)BkE[[+ [/X~?[װ[[[[BZYY i) ]Iit@= Zu>))Zu>Zu>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040976.783165 s, next control iter: 1743040977.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040977.183165 s.K~,^Kt,AJ"J*J2J:JBJnJvJA(\E@A E@AX~? AA%"AAlNA"AZAbAjArAzAAAXL@A*tAPl@A&<A^B=AdžA@?A׿A¼*AГ9?2AWֽ:As=BAГ9?JAWֽRAs=٘i)I9l@YG JC=JJJJF&K Y[W~?yA CArFb7D59HB)BnE[[4[CX~?[f[[[[BZYY i) Ii!r@= H>))H>H>gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040977.203165 s, next control iter: 1743040977.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040977.603165 s.94K~,ft,AAQE@AByGE@AJX~? AAkz%"AAAlNA"AZAbAjArAzAAAʱ0.38@AxY-tABlk@A:AX=AGA}?AֿAV0ü*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9lk@YHG JFüJJJJF&K YIW~?y ECAtF77{779)BqE[[[yVX~?[ݷ[[[[BZYY i) =ƼIio@g= Xʌ>))Xʌ>Xʌ>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040977.623165 s, next control iter: 1743040978.003181 s, wait time: 0.380016 s IW~?)  tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14476 , header.stamp.nsec: 0 0 temperature: 13.569859 * salinity: 33.375130 , density: 1025.000000 * values[0]: 0.572730 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040978.023165 s.Z K~, |t,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084384< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743040978.023325F (some fields omitted in printout)AHz.F@AZc !F@AX~? A^A-%"AAclNA"AZAbAjArAzAAA5ZM@Afwu/tA8j@AA=A_䯾A?A`տA/ü*A.9?2A ׽:A =BA.9?JA ׽RA =٘i)I9j@YG JGüJJJJF&K Y8W~?y1BAuF{7Z789JB)BuE[[8[3jX~?[=[[[[BZYY i) [\ͼIim@= !>))!>!>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040978.043165 s, next control iter: 1743040978.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040978.443165 s.9&K~,F]t,AAq= cF@ASVF@A4X~? AA%"AAņlNA"AZAbAjArAzAAAud@AcK1tA#j@AN\A=A?A?AHտAļ*A9?2A׽:A*A=BA9?JA׽RA*A=٘i)I9#j@YG JüJJJJF&K Y'W~?yaBAvFb77:9)BxE[[}[-~X~?[[[[[BZYY i) /ԼIik@= 9 >))9 >9 > YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040978.463165 s, next control iter: 1743040978.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14477, header.stamp.nsec: 00 temperature: 13.570087* salinity: 33.375145, density: 1025.000000* values[0]: 0.572372F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040978.863165 s.+-K~,>t,AJ"J*J2J:J?BJ?nJ5vJAF@A*F@AY~? AAs%"AAlNA"AZAbAjArAzAAAM_@A?*3tA|i@Aʹ<Aƫ=A;욾A`f&?ABԿATɼ*AR9?2Aֽ:A) =BAR9?JAֽRA) =YU@oy='p=ٓHk??y ?@yӿ Q?@q`-?)U@ I٘i)I9|i@YG JƼJ<JJJF&K/x> Y X~?yJAAoxF7777n<9)B[[[*X~?[[[[[BZYY i) iۼIih@= !>))!>!>,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040978.883165 s, next control iter: 1743040979.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040979.283165 s.=R4K~,t,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084384< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743040979.283295F (some fields omitted in printout)A(\F@AJPF@AY~? AA1X%"AAilNA"AZAbAjArAzAAAS@A| h5tAh@ACgAn=A(ߐA Y?AfӿA=м*A99?2AUֽ:A=BA99?JAUֽRA=٘i)I9h@Y G Jo̼JJJJF&K Y%X~?ysAAyF9>9KB)B{E[[E[rX~?[Ī[[[[BZYY i ) !Iiie@= q8>))q8>q8>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040979.303165 s, next control iter: 1743040979.683181 s, wait time: 0.380016 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14478., header.stamp.nsec: 0.0 temperature: 13.570262.* salinity: 33.375156., density: 1025.000000.* values[0]: 0.571670.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040979.703165 s.غ:K~,t,AJ"J*J2J:JBJnJvJAQG@AKF@A6Y~? ARA%"AA=lNA"AZAbAjArAzAAA9v@As_=7tAVh@A-;A=AP熾Ai?A0ҿA*׼*Ad9?2A&ֽ:AG=BAd9?JA&ֽRAG=٘i)I9h@YF G J:ӼB=JJJJF&K Y@X~?y@AzFŧ7ŧ7@9) B~E[[!׾[X~?[Ǫ[[[[ZZ¸BZYY i¸Z=)  ׼Iib@= b>))b>b>XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040979.723165 s, next control iter: 1743040980.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040980.123165 s.5AK~,Tu,AAG:G@A.4-G@ANY~? ApAQ%"AAbmNA"AZAbAjArAzAAA]̓@AȮpt9tAig@AR<A/=AyA`?AѿAЊټ*A~9?2Anս:A8=BA~9?JAnսRA8=٘i)I9ig@Y G J5ؼC=JJJJF&K Y[X~?y-@A|Fb77A9)BE[[ξ[X~?[vʪ[[[[ZZBZYY i) #˼Ii``@= ɓ>))ɓ>ɓ>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040980.143165 s, next control iter: 1743040980.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040980.543165 s.IHK~,"u,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082693< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743040980.543289F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףpG@AcG@AfY~? AhAƜ%"AA9mNA"AZAbAjArAzAAA@Apk;tAf@A{N<Aۭ=A\dAC?A`7пA]*A9?2A[ֽ:A 5=BA9?JA[ֽRA 5=٘i)I9f@Y\ G J[JJJJF&K YvX~?y! @A}F7C9)BE[[%Qž[X~?[1ͪ[[[[ZZBZYY i) 4%Iio^@[= >))>>y= YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040980.563165 s, next control iter: 1743040980.943181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14479, header.stamp.nsec: 00 temperature: 13.570498* salinity: 33.375164, density: 1025.000000* values[0]: 0.570900F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040980.963165 s.}NK~,=u,AAffffG@AOYG@AFY~? A8 A;d%"AA^mNA"AZAbAjArAzAAA~yG,@A2_h=tAe@A;AAޗ=ASLOAl ?AϿAr*A9?2A]_ֽ:Aq<BA9?JA]_ֽRAq YfX~?y#?AN~F777dE9)BE[[m([X~?[Ϫ[[[[ZZBZYY i) ~IiZ@ = I>))I>I>yU̧=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040980.983165 s, next control iter: 1743040981.363182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743040981.383165 s.J "J UK~*J2J,))E.>E.>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040981.403165 s, next control iter: 1743040981.783180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14480", header.stamp.nsec: 0"0 temperature: 13.570802"* salinity: 33.375183", density: 1025.000000"* values[0]: 0.570009"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040981.803165 s.yA\K~,gsu,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082693< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743040981.803292F (some fields omitted in printout)AH@AH@AzY~? A`A1%"AAԨmNA"AZAbAjArAzAAALr̀@A𜅎@tA4d@AndPA0=AB$A![?A#̿A"ȼ*AE9?2Aֽ:Az;BAE9?JAֽRAz;٘i)I94d@Y G J޼JJJJF&K YX~?y'>AFŧ7b7H9LB)*BE[[[$Y~?[Ԫ[[[[ZZBZYY i) 1IiiT@b= q>))q>q>xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040981.823165 s, next control iter: 1743040982.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040982.223165 s.gcK~,Hu,AJ"J*J2J:JBJnJvJAzGH@A}:H@ATY~? AA%"AA]mNA"AZAbAjArAzAAA.am0@Az AtA c@AlAv<AfA?A PʿA䅣*As9?2Ayvֽ:A_e!BAs9?JAyvֽRA_e!٘i)I9c@Y G J.JJJJF&K YbX~?y(u>AF77j7J9)/BE[[_[:Y~?[֪[[[[ZZBZYY i)  IiQ@K= >))>>SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040982.243165 s, next control iter: 1743040982.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040982.643165 s.ziK~,*u,AA ףp}H@A3hpH@AUY~? AAP%"AA#mNA"AZAbAjArAzAAA;'p@A1eRCtACc@AAm<AA`?AkzȿA}*A)9?2Arֽ:AZBA)9?JArֽRAZ٘i)I9c@Y8 G JJJJJF&K Y Y~?y*>AF{7Z7L9TB);BE[[ [PY~?[٪[[[[ZZBZYY i) r儼IiO@= >))>>rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040982.663165 s, next control iter: 1743040983.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14481, header.stamp.nsec: 00 temperature: 13.571008* salinity: 33.375179, density: 1025.000000* values[0]: 0.569242F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040983.063165 s.pK~,N u,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082693< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743040983.063278F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333H@A8'H@A{Y~? AAv%"AA#nNA"AZAbAjArAzAAAn Y8Y~?y+>A'ͽFb77YN9)>BE[[[fY~?[۪[[[[ZZBZYY iz=) vIiK@[= 0?))0?0?(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040983.103165 s, next control iter: 1743040983.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743040983.483165 s.y_wK~,u,AA\H@AH@AZ~? AAP%"AAX@nNA"AZAbAjArAzAAA.o @A}%'CEtAm}b@A͆%<AwA .A?A` ĿA8ۻ*A9?2Aֽ:ANBA9?JAֽRAN٘i)I9}b@Y G JJJJJF&K Ye9Y~?yh,>AF$P9)@BE[[e[|Y~?[ܪ[[[[ZZBZYY i~4=) dIiH@p= ?))??)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040983.523165 s, next control iter: 1743040983.883180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14482, header.stamp.nsec: 00 temperature: 13.571076* salinity: 33.375210, density: 1025.000000* values[0]: 0.568825F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040983.903165 s.}K~,u,AJ"J*J2J:JBJnJvJAQI@AsI@A).Z~? AA-%"AAfnNA"AZAbAjArAzAAA8 @AMKFtA-_b@A^<A'ArA?A ¿AX*A9?2AAֽ:A+żBA9?JAAֽRA+ż٘i)I9_b@Y G JB=JJJJF&K YUY~?yJ-(>AF7Q9SB)E[[u[BY~?[ު[[[[BZYY i) QIiD@< T ?))T ?T ?4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040983.943165 s, next control iter: 1743040984.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040984.323165 s.vK~,%v,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071877< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743040984.323295F (some fields omitted in printout)AGzTI@AnGI@AGZ~? AA %"AAQnNA"AZAbAjArAzAAA^3U!@A>GtAbb@A<A3AA?A@AgC;*AL9?2Aֽ:AѿBAL9?JAֽRAѿ㼙٘i)I9bb@Y G JS:C=JJJJF&K YqY~?y+.0>AF{7{7S9)E[[cc[Y~?[q[[[[BZYY i) :>IiB@p< H?))H?H?yR=.q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040984.363165 s, next control iter: 1743040984.723177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14483*, header.stamp.nsec: 0*0 temperature: 13.571032** salinity: 33.375221*, density: 1025.000000** values[0]: 0.568738*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040984.743165 s.WK~,m/v,AJ"J*J2J:JBJnJvJAףp=I@AF 2}I@AGaZ~? AuA%"AA nNA"AZAbAjArAzAAA" vw!@Aרm.HtAƄb@A:AT:YAA`%?AVAm;*A9?2ABֽ:ABA9?JABֽRA٘i)I9b@Y G J;JJJJF&K YY~?y /8>AFU9)?B[[K!P[Y~?[[[[[BZYY i) U+Ii?@Y< ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040984.763165 s, next control iter: 1743040985.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743040985.163165 s.v}K~,qJv,AAI@A%/I@AzZ~? AA9%"AAnNA"AZAbAjArAzAAA;?"@Asդ$JItA b@AVXA8xA*|:A7?A`AV~9<*A]9?2Aս:A BA]9?JAսRA Y@;:yy5xٓH?SoB>R??V??`?)@ I٘i)I9b@Y G J<J_JJJF&Kv> Y+Y~?y />A;:F77j7OW9)=BE[[C_=[Y~?[`[[[[BZYY i`e=) ,tIi;@<  ?))9g ? ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040985.183165 s, next control iter: 1743040985.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040985.583165 s.K~,"Sev,AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.250788> elevatorAngleAction: 0.056116< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743040985.583322F (some fields omitted in printout)A)\I@AꗈI@AZ~? AA%"AAoNA"AZAbAjArAzAAAm[{(#@AndItAYc@AUfA|A@<A@G?A ݶAm<*A9?2AZս:ABA9?JAZսRA٘i)I9c@Y9 G JAR<JJJJF&K YnY~?y/>AF{7Y9):BE[[c|*[Y~?[[[[[BZYY i)  Ii7@@0< p?)) p?p? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040985.623165 s, next control iter: 1743040985.983177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14484, header.stamp.nsec: 00 temperature: 13.570810* salinity: 33.375248, density: 1025.000000* values[0]: 0.569043F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040986.003165 s.| K~,]4v,AAR+J@AxJ@AZ~? A A@%"AA(oNA"AZAbAjArAzAAA4Q #@Av@~JtAc@AX?AOA&=A!W?A`A[<*As9?2A ս:ABAs9?JA սRA٘i)I9c@Y{ G J<JJJJF&K YY~?y/2?AF777Z9)6BE[[k{[Z~?[[[[[BZYY i) dIi[4@P< 1#?))1#?1#?4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040986.023165 s, next control iter: 1743040986.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040986.423165 s.uK~,v,AJ"J*J2J:J?BJ?nJ5vJA{GaJ@A!=TJ@AuZ~? Af!A %"AA1PoNA"AZAbAjArAzAAAb$@A?IJtAQd@A^TAtAM{=Ab?A{A7<*A,9?2Aս:A-BA,9?JAսRA-٘i)I9d@Y G J0<JJJJF&K YY~?y/?AF77\9RB)2BE[[][Z~?[[[[[BZYY i 8=) k׻Ii]1@< p'?))p'?p'?y_+f=*Y}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040986.443165 s, next control iter: 1743040986.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14485, header.stamp.nsec: 00 temperature: 13.570487* salinity: 33.375256, density: 1025.000000* values[0]: 0.569606F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040986.843165 s.ݬK~, v,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065537< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743040986.843333F (some fields omitted in printout)Ap= J@ASJ@AeZ~? A!A%"AAwwoNA"AZAbAjArAzAAA~f$@ARv YQ7Z~?y.@@A=FSI787D`9))BE[[&T[KZ~?[n[[[[BZYY i) Iir*@+< V1?))ƣ}V1?V1?y"=}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040987.283165 s, next control iter: 1743040987.663180 s, wait time: 0.380015 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 144862, header.stamp.nsec: 020 temperature: 13.5701372* salinity: 33.3752672, density: 1025.0000002* values[0]: 0.5703492F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040987.683165 s.lK~,^v,AA(\K@A?RDJ@A][~? A"A%"AA.oNA"AZAbAjArAzAAA 9:&@A7KtAe@APQ<AA9y=Av?AAD <*A#9?2A\cֽ:ABA#9?JA\cֽRA٘i)I9e@Y G JR<C=JJJJF&K YdSZ~?y6-@AFZ7SI7b9QB)$BE[[[rcZ~?[ [[[[BZYY i) wIi&@"< L6?)) L6?L6?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040987.683165 s, next control iter: 1743040988.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743040988.103165 s.K~,̚w,AJ"J*J2J:J?BJ?nJ25vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065537< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743040988.103289F (some fields omitted in printout)AQ8K@Ad]F+K@A_0[~? A"A2|%"AAoNA"AZAbAjArAzAAAD=&@A2KtAy1f@A|;A=NA >Ay?A /?Arc<*A9?2AԽ:A%BA9?JAԽRA%٘i)I91f@Y G J<JJJJF&K YzoZ~?yP,AAF77c9) B[[*_[*{Z~?[[[[[BZYY i) :Ii"@< ,;?)),;?,;?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040988.123165 s, next control iter: 1743040988.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743040988.523165 s.K~,{!w,AAHznK@AX5aK@AdJ[~? A"A{%"AApNA"AZAbAjArAzAAAY:u'@Af"״KtAf@ABMAR旽AA%>A y?Aύ?A<*A9?2A Խ:ATBA9?JA ԽRAT٘i)I9f@Yr G J(<JJJ[FJF&K YZ~?yk+vAAF77e9)BE[[ [ Z~?[[[[[BZYY i) Ii@3< ??))???? *Y&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040988.543165 s, next control iter: 1743040988.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14487, header.stamp.nsec: 00 temperature: 13.569720* salinity: 33.375290, density: 1025.000000* values[0]: 0.571066F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040988.943165 s.YdK~J"J*J,F]A@ v?A?Aа<*AF9?2AԽ:AȂBAF9?JAԽRAȂ٘i)I9Xg@Y G J<B=JJJJF&K YZ~?y*AAF7{7og9PB)BE[[[Z~?[ [[[[BZYY i) 04Ii@k< VD?))VD?VD?>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040988.963165 s, next control iter: 1743040989.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040989.363165 s.K~,>Ww,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065537< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743040989.363291F (some fields omitted in printout)AK@AeK@Ac~[~? A"AЄ%"AAcpNA"AZAbAjArAzAAAvL(@A# RKtAg@A]A?AmN>Ap?A^?Aҭ<*AM9?2AEս:ALBAM9?JAEսRALY2@=mO>y<<Y^ٓHC?uɿ`S?@_Y?Rxc? ?)2@ I٘i)I9g@Y& G J<C=J;JJJF&K6u> YPZ~?y(@BAmO>F77:i9)BE[[D[;[Z~?[[[[[BZYY i) Ii@[< 6I?)){6I?6I?*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743040989.383165 s, next control iter: 1743040989.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14488&, header.stamp.nsec: 0&0 temperature: 13.569332&* salinity: 33.375294&, density: 1025.000000&* values[0]: 0.571867&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040989.783165 s.ZK~,rw,AJ"J*J2J:Je?BJe?nJ5vJA(\L@AFXTL@AZ[~? Au!A%"AA:pNA"AZAbAjArAzAAAF=]N)@AHJtA{h@Au AuAc>Ah?A?A-,<*A9?2A4ս:A2BA9?JA4սRA2٘i)I9{h@Y~ G J(<B=JJJJF&K YZ~?y&BAFZ7Z7k9OB) BE[[<[Z~?[[[[[BZYY i) _:Ii@/&< PN?)) PN?PN?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040989.803165 s, next control iter: 1743040990.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743040990.203165 s.K~,w,AAQEL@A8L@AF[~? A Ag%"AApNA"AZAbAjArAzAAA~)@AҢTJtA,i@A;Ax̍Ax>A_?A?A<*A9?2AsԽ:APeBA9?JAsԽRAPe٘i)I9i@Y G J<C=JJJJF&K YZ~?y5%CAF{7l9)BE[['%=[Z~?[[[[[BZYY i) ?:Ii@u< LbS?))LbS?LbS?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040990.223165 s, next control iter: 1743040990.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743040990.623165 s.VK~,Xw,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065537< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743040990.623290F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzL@ATDmL@A'[~? AA %"AApNA"AZAbAjArAzAAAy׈*@ARl7ItAi@Af5<AA'>A@R?Ap?Ac?<*A9?2AWս:AJBA9?JAWսRAJ٘i)I9i@Y!G JR<B=JJJJF&K YQ[~?yo#hCAF)7ŧ7n9NB)BùE[[s=[8 [~?[f[[[[BZYY i)  2;Ii @G< (NX?))(NX?(NX?+*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040990.663165 s, next control iter: 1743040991.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14489 , header.stamp.nsec: 0 0 temperature: 13.568947 * salinity: 33.375313 , density: 1025.000000 * values[0]: 0.572614 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040991.043165 s.K~,w,AA= ףL@A:VL@A[~? AAӼ%"AAqNA"AZAbAjArAzAAAd%+@A E ZItAj@A4e<ADA(G>A`C?A`c?A<*A9?2Aս:ABA9?JAսRA񼙘٘i)I9j@YmG J<C=JJJJF&K Y1[~?y!CAFŧ7b7dp9)BƹE[[=[#[~?[[[[[BZYY i) o;Ii @< ?]?))?]??]?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040991.063165 s, next control iter: 1743040991.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743040991.463165 s.UK~,w,AJ"J*J2J:J?BJ?nJ5vJAffffL@A'_L@A[~? AA%"AA(qNA"AZAbAjArAzAAA1@n?+@AќHtAj@A<A?A2{>A1?A?A1<*A9?2A¸ս:ABA9?JA¸սRAY>٫='>yZ>[<ٓHoy?#ӿ`{?@ψ?@? >??)>٫= I٘i)I9j@YG J<B=JGQ<JJJF&Kt> YL[~?y 'DA'>F77/r9)B[[ʭ=[;[~?[5[[[[BZYY i{b=) b;Ii3@ǫ< %b?))9y%b?%b?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040991.503165 s, next control iter: 1743040991.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14490, header.stamp.nsec: 00 temperature: 13.568570* salinity: 33.375324, density: 1025.000000* values[0]: 0.573315F (some fields omitted in printout)*L[~?)*  rAdjusting time to match Gazebo time: 1743040991.883165 s.yK~,Dw,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243385> elevatorAngleAction: 0.075871< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743040991.883312F (some fields omitted in printout)A(M@A M@Ab\~? A6A%"AA OqNA"AZAbAjArAzAAA!],@ArGtAj@Ad8A\A>A@?A?Au<*A9?2A=ս:A%FBA9?JA=սRA%F٘i)I9j@YG Je<C=JJJJF&K Yg[~?yhDAFb7s9MB)BɹE[[J$=[S[~?[d[[[[BZYY i) õ;Ii @r< dg?)) dg?dg?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040991.923165 s, next control iter: 1743040992.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743040992.303165 s.WK~,{gx,AJ"J*J2J:JBJnJvJAQM@A?DM@A2\~? AA%"AAuqNA"AZAbAjArAzAAAw3,@A)#FtAsk@AAA AAo>A ?A`;?Aݶ<*A:?2A< Խ:ABA:?JA< ԽRA٘i)I9sk@YLG J<<JJJJ F&K Y܂[~?yDAF777u9)B̹E[[ >[5l[~?[l[[[[BZYY i) j;Ii?K< T l?))T l?T l?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040992.323165 s, next control iter: 1743040992.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14491., header.stamp.nsec: 0.0 temperature: 13.568224.* salinity: 33.375328., density: 1025.000000.* values[0]: 0.573978.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743040992.723165 s. K~,H.x,AAzM@Aa⏢zM@AnL\~? AAJ'%"AAqNA"AZAbAjArAzAAAH-@AhEtAk@A,dAzrAk>A@d?A ?A<*AY :?2AOTԽ:ABAY :?JAOTԽRA٘i)I9k@YG J<JJJJ F&K Yӝ[~?y&9EA EFb7b7w9LB)BϹE[[>[[~?[L[[[[BZYY i) h;Ii?Z<  q?)) q? q?yE=*Y0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743040992.743165 s, next control iter: 1743040993.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743040993.143165 s.Z/K~,*Ix,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075871< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743040993.143328F (some fields omitted in printout)A ףpM@AweM@Ae\~? A%AI%"AAqNA"AZAbAjArAzAAAbu,.@ADtAcl@A6A:@A)>A?A@j?AnJ<*A:?2AԽ:ABA:?JAԽRA٘i)I9cl@YG J<JJJJ F&K Yʸ[~?yEAF7777Zy9KB)BҹE[[4>[%[~?[[[[[BZYY i)  A?A@?A<*A:?2Aݕս:ABA:?JAݕսRAYz<>>yɥ.(ٓHq]?@ٿH鯿G?n?Xcz? d?)z<> I٘i)I9l@Y&G Jˋ<JJJJJ F&Kt> Y[~?yEA>FZ7SI7${9)BֹE[[=G>[K[~?[[[[[BZYY i) A?A@,?A-<*A9?2A 1ֽ:AzBA9?JA 1ֽRAz٘i)I9Lm@YlG J<JJJJF&K Y[~?y LFAF77{7|9HB)ޯBԹE[[%\>[[~?[[[[[BZYY i) ( elevatorAngleAction: 0.075871< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743040994.403285F (some fields omitted in printout)AQ^N@Ae QN@A\~? AA@%"AA5rNA"AZAbAjArAzAAAv/@A=@tAm@A[<A\Ap>Aq?A ?AX܈<*A:?2AԽ:A&BA:?JAԽRA&٘i)I9m@YG J<JJJJF&K Y\~?y% FAFb7b7~9GB)ٯB׹E[[Hp>[[~?[Lߪ[[[[BZYY i) Q+8AM?A?AF<*A:?2AԽ:AdBA:?JAԽRAd٘i)I92n@YG Jz<JJJJF&K Y \~?yGAFj7j79FB)կBڹE[[Q>[D[~?[fݪ[[[[BZYY i)  GA&?A@=?A"Ô<*As :?2Aս:ABAs :?JAսRA٘i)I9n@YCG JU<JJJJF&K Y:\~?y;_GAFb77O9)ЯBݹE[[>[\~?[W۪[[[[BZYY i) ?W elevatorAngleAction: 0.075871< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743040995.663295F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14494, header.stamp.nsec: 00 temperature: 13.567190* salinity: 33.375389, density: 1025.000000* values[0]: 0.575933F (some fields omitted in printout)AO@AMN@A\~? AAfX%"AArNA"AZAbAjArAzAAAW0@A71?;tA,o@AܮA*A0?A@t?A>?A+<*A:?2ANս:Aݨ BA:?JANսRAݨ Y3>?y>*SٓH?.޿?@?@*?u*?)3> I٘i)I9,o@YG Jg<J_nJJJF&KHt> YpS\~?yGA?F79EB)˯BE[[w>[.\~?['٪[[[[BZYY i) vf[F\~?[֪[[[[BZYY i) 'up@AR[AA ?A?Ag?A̚<*A:?2ARӽ:A.%BA:?JARӽRA.%٘i)I9>p@Y7G J<JJJJF&K Y\~?y{HAF9DB)¯BE[[/>[^\~?[FԪ[[[[BZYY iV =) p elevatorAngleAction: 0.084981< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743040996.923296F (some fields omitted in printout)A{GO@A=O@A>C]~? AA'%"AAsNA"AZAbAjArAzAAA؞1@A A6tAVp@AHAA-?AXt?A@?AΧ<*Ac:?2AԽ:AYBAc:?JAԽRAY٘i)I9p@YG J <JJJJF&K Y\~?y;HAF7z9CB)BE[[k>[v\~?[Ѫ[[[[BZYY i)  [\~?[Ϊ[[[[BZYY i) @[?y(՝;<ٓH.B?2S? Q?c3?P?&?)> I٘i)I9q@Y6G J<J%JJJF&Kt> Y\~?yIA?Fb7779)B[[F>[|\~?[˪[[[[BZYY i)  elevatorAngleAction: 0.084981< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743040998.183259F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\BP@AoK5P@A]~? AA%"AAsNA"AZAbAjArAzAAA8R؊2@A5/tAyjr@Aa<A"A ?A`?A ?A<*A\9?2A@4ֽ:A*BA\9?JA@4ֽRA*٘i)I9jr@YG J<JJJJF&K Y\~?y(JAF7)7ڎ9>B)BE[[>[\~?[Ȫ[[[[BZYY i) ҝ[\~?[AŪ[[[[BZYY i) ["\~?[[[[[BZYY i)  elevatorAngleAction: 0.084981< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743040999.443260F (some fields omitted in printout)Aq= P@A%:P@A]~? A A%"AAsNA"AZAbAjArAzAAAgY3@AD+X(tAh+t@A#"AA.?A@#?A@0??A<*A:?2AԽ:A(BA:?JAԽRA(٘i)I9+t@YG J<JJJJ F&K Y*]~?yԪfKAF777:9=B)B[[Q>[]~?[[[[[BZYY i) !y,AJ"J*J2J:JBJnJvJAQ@A+. Q@A]~? AA%"AAtNA"AZAbAjArAzAAAR|~3@A%tAFt@AKneAA4?A`?A~ ?AZS<*A9?2AԽ:ABA9?JAԽRAY"q>+Q4?yD>fٓH`~L?ְ ?"h?@T`y?P?)"q> I٘i)I9t@YG J<JJJJ!F&Ktt> Y@]~?yJϪKAQ4?Fb7798B)BE[[>[p]~?[J[[[[BZYY i) 1_ elevatorAngleAction: 0.084981< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743041000.703272F (some fields omitted in printout)J"J*J2J:JBJnJvJAQQ@Ay7xQ@Am^~? A۫A_%"AANKtNA"AZAbAjArAzAAA9 4@AI tA v@A AՁA>?A ]?Az?A<*A :?2AwԽ:ACBA :?JAwԽRAC٘i)I9 v@YG J<B=JJJJ$F&K Y k]~?yêLAFŧ7b79)B[[k ?[I]~?[-[[[[BZYY i)  rtA tw@Af>_<AeA/I?A?A_.?A)<*A9?2A5ս:Ao~BA9?JA5սRAo~٘i)I9tw@YG J3<JJJJ'F&K Y]~?yMAF{7Z7095B)yBE[[?[v]~?[\[[[[BZYY i) _ elevatorAngleAction: 0.084981< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743041001.963287F (some fields omitted in printout)Affff&R@A[R@AuN^~? AͫA%"AAtNA"AZAbAjArAzAAA5D4@AtAJ x@AE<A!AAVN?A/?A ?AB<*A(9?2AQս:A.BA(9?JAQսRA.Y6?N?y=zF<ٓH@R?W?'?`X^F? .??)6? I٘i)I9 x@YG J<JJJJ(F&K8u> Y]~?y* NAN?Fj79)tB[[+?[ ]~?[Ĥ[[[[ZZZZ¸>BZYY i¸>^ᬽ) d.; |?))|?|?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041002.823165 s, next control iter: 1743041003.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041003.223165 s.gK~,Hz,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084414< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743041003.223266F (some fields omitted in printout)J"J*J2J:JBJnJvJAzR@A8+R@A^~? AAR%"AAuNA"AZAbAjArAzAAA85@ATtAzz@AOA藽A2]?A{?AF?A=*AR:?2AnԽ:AQBAR:?JAnԽRAQ٘i)I9zz@YrG J~=JJJJ,F&K Y:]~?y'OAFSI7SI7Z9)\B[[z*?[]~?[啪[[[[ZZZZBZYY i) oԒ; :Ź?)):Ź?:Ź?y@*Y].YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041003.243165 s, next control iter: 1743041003.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041003.643165 s.wйK~, *z,AA ףpR@A܄{eR@A^~? AA~W%"AA&%uNA"AZAbAjArAzAAA̢ح5@AyY* tAS{@AXNArA[b?A M?A@?A <*AE":?2AԽ:AnBAE":?JAԽRAn٘i)I9S{@YG J=JJJJ-F&K Y]~?yИPAF77%9.B)TBE[[/?[]~?[[[[[ZZZZBZYY i) igV̄; n?))n?n?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041003.663165 s, next control iter: 1743041004.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14502, header.stamp.nsec: 00 temperature: 13.563914* salinity: 33.375492, density: 1025.000000* values[0]: 0.582548F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041004.063165 s.K~,J {,AJ"J*J2J:J!?BJ!?nJ`5vJA33333S@A=|(&S@A^~? A0A%"AAABuNA"AZAbAjArAzAAAr1P 6@AtA|@AA9,AӢg?AV?A:?AN<*A|$:?2Adս:AœBA|$:?JAdսRAœY/?5g?y,:ٓH*? m)`M,$??`y`L?@ v?)/? I٘i)I9|@YmG JS<JA=JJJ/F&Kt> YA ^~?y>PAg?Fj7Z79)NB[[u5?[]~?[+[[[[ZZZZBZYY i~)  8d\; B?))&}B?B?.p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041004.083165 s, next control iter: 1743041004.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041004.483165 s.x_K~,{,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.247217@ elevatorAngleAction: -0.074227< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743041004.483276F (some fields omitted in printout)A\hS@A,I[S@A^~? AA.%"AA^uNA"AZAbAjArAzAAAEB6@AT8tA|@A휛;A&˼Al?A?A`Α?Ao<*A!:?2AQս:Ar.;BA!:?JAQսRAr.;٘i)I9|@YG Jz<JJJJ0F&K Y^~?yxPAFŧ779*B)DBE[[:?[M ^~?[[[[[ZZZZBZYY i) ܉3; O?)) O?O?@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041004.503165 s, next control iter: 1743041004.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14503, header.stamp.nsec: 00 temperature: 13.563429* salinity: 33.375519, density: 1025.000000* values[0]: 0.583571F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041004.903165 s.K~,9{,AJ"J*J2J:Jd?BJd?nJ5vJAQS@AX%S@A^~? AʧA%"AAzuNA"AZAbAjArAzAAA 7Kz6@A$tA1}@A/3S<AAAr?A)R?A?A_n<*A4:?2AԽ:A#<BA4:?JAԽRA#<٘i)I91}@YG JU<JJJJ1F&K Y2,^~?yPAFj7j79)@B[[$@?[^~?[[[[[ZZZZBZYY i) /~; ?))??w?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041004.923165 s, next control iter: 1743041005.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041005.323165 s.yK~,2T{,AAGzS@AeoS@A^~? AꡫA%"AANuNA"AZAbAjArAzAAA I6@AsA]}@A4[n<A>;Aw?A`?A =?Ag<*A)0:?2AԽ:AA<BA)0:?JAԽRAA<٘i)I9}@YNG JK<JJJJ3F&K Y=^~?y}PAFb77P9(B): ?))??yv"YlYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041005.363165 s, next control iter: 1743041005.723178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14504*, header.stamp.nsec: 0*0 temperature: 13.563108** salinity: 33.375523*, density: 1025.000000** values[0]: 0.584234*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041005.743165 s.WK~,yo{,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083623< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743041005.743278JF (some fields omitted in printout)"J*J2J:JBJnJvJAףp= T@AV 1S@AS^~? AA=%"AA4uNA"AZAbAjArAzAAA+Y6@Ac<xsA}@At<Aa<AB|?A-H?A~?A;*A(:?2A^?ս:A3<BA(:?JA^?սRA3<٘i)I9}@YnG J=;JJJJ4F&K Y$O^~?y!v&QAF779):B[[K?[3G^~?[s[[[[ZZZZBZYY i) S): |j?))|j?|j?yؗcYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041005.763165 s, next control iter: 1743041006.143178 s, wait time: 0.380013 s$O^~?)!v rAdjusting time to match Gazebo time: 1743041006.163165 s.u}K~,q{,AA@T@AD2T@Ay _~? AוA %"AAuNA"AZAbAjArAzAAA`7@A@CsA}@AK A=A€?A@7?A^?AG:*A:?2AFս:A><BA:?JAFսRA>JJJ5F&Ku> YJ^^~?ynPA?F{79#B)5B E[[ ZQ?[DZ^~?[m[[[[BZYY iݩn) AwYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041006.603165 s, next control iter: 1743041006.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14505, header.stamp.nsec: 00 temperature: 13.562930* salinity: 33.375542, density: 1025.000000* values[0]: 0.584505F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041007.003165 s.y K~,P4{,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.068275< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743041007.003328F (some fields omitted in printout)ART@AyT@A+_~? AVA%"AANuNA"AZAbAjArAzAAAT(~7@AisA}@A!pdAR[=A?AZ?A|?At7*A:?2Ayս:A#}<BA:?JAyսRA#}<٘i)I9}@YiG JFJJJJ8F&K Y|^~?y_PAF777z9"B)4BE[[p\?[^~?[`[[[[BZYY i) # I?ia h?))h?h?ѼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041007.883165 s, next control iter: 1743041008.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743041008.263165 s.K~,|,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.068275< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.420012J2 time: 1743041008.263279"JF (some fields omitted in printout)*J2J:JBJnJvJALU@A)\?U@A Z_~? AuAd%"AAEvNA"AZAbAjArAzAAAׄf 8@A`v5sA|@A c<A8Ӓ=A?A@?A@P?Aj*A:?2Aoս:Au=BA:?JAoսRAu=Y:c??yђ=<ٓHF??֊???-VO??):c? I٘i)I9|@YG JJ=JJJ<F&Ku> Y^~?yHOA?F77۹9B)E[[m?[[^~?[K[[[[BZYY im) ;I I?iB )?)))?)?ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041008.283165 s, next control iter: 1743041008.663178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14507., header.stamp.nsec: 0.0 temperature: 13.562985.* salinity: 33.375546., density: 1025.000000.* values[0]: 0.584130.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041008.683165 s.l K~,g+|,AA(\U@AduU@Ah_~? A$oAZ%"AAg\vNA"AZAbAjArAzAAA o78@As sA7|@A*h<Aa=A4#?A` ?A*?A}*A8:?2Aս:Af=BA8:?JAսRAf=٘i)I97|@YG JlJJJJ=F&K Y+^~?yAOAFj7Z79B):BE[[~s?[^~?[D[[[[BZYY i) z;I@I?i{ ?))??ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041008.683165 s, next control iter: 1743041009.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743041009.103165 s.K~,F|,AJ"J*J2J:JBJnJvJAQU@A8GU@Av_~? A]hAi%"AAPrvNA"AZAbAjArAzAAAWkQb8@AwsA|{@AQ@<A=AŒ?AB[[By?[I^~?[=[[[[BZYY i) ό;I5I?it@ ?))??!تYFFF]Waiting for Gazebo time sync: latest Gz time: 1743041009.123165 s, next control iter: 1743041009.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041009.523165 s.K~,{a|,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058087< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743041009.523278F (some fields omitted in printout)AHzU@A c U@A_~? AaA%"AAvNA"AZAbAjArAzAAA9K8@A?/ksAB{@AOO;A =A7y?Ak?A 8?A*As:?2A]ֽ:A[=BAs:?JA]ֽRA[=٘i)I9{@YG JmJJJJ@F&K Ys^~?y_1NAFb77;9B)AB[[c?[^~?[&6[[[[BZYY i) {;IH?iMD[ ܘ?))ܘ?ܘ?y(n٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041009.563165 s, next control iter: 1743041009.923177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14508, header.stamp.nsec: 00 temperature: 13.563130* salinity: 33.375557, density: 1025.000000* values[0]: 0.583564F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041009.943165 s.ZdK~,J]||,AJ"J*J2J:JBJnJvJAq= #V@ABV@A_~? AZAu%"AAvNA"AZAbAjArAzAAA0V8@AsAz@AzA1H=A0?A@?AW?AFF*A:?2A ׽:A=BA:?JA ׽RA=٘i)I9z@YwG J JJJJAF&K Y^~?y)WNAFb79B)E[[q?[z^~?[.[[[[BZYY i) >;IH?iC=p Pu?))Pu?Pu?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041009.983165 s, next control iter: 1743041010.343181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743041010.363165 s.%K~,>|,AAYV@A*sLV@Aܞ_~? ASA`%"AAvNA"AZAbAjArAzAAA&K8@AAsA_y@Aj_A}"=Aޚ?A|?A?A*A:?2AI׽:A=BA:?JAI׽RA=Y_}?-?y=L`ٓH@?`@Ȭ? R?`Ә? Z?_!틿?)_}? I٘i)I9y@YG JJ<JJJCF&Kx> Y^~?yD!MA?Fŧ79)FB[[{U?[)_~?[&[[[[BZYY i) b;IH?iھ B?))B?B?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041010.403165 s, next control iter: 1743041010.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14509&, header.stamp.nsec: 0&0 temperature: 13.563338&* salinity: 33.375557&, density: 1025.000000&* values[0]: 0.582888&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041010.783165 s.Y+K~,|,AJ"J*J2J:J8?BJ8?nJw5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058087< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200542 time: 1743041010.783333F (some fields omitted in printout)A(\V@AX zRV@A>_~? AbLA%"AAvNA"AZAbAjArAzAAA(9@AÓsA]Wy@AUA=A9y?AM?A ?A3*A0:?2AE=׽:A?=BA0:?JAE=׽RA?=٘i)I9Wy@YG J0JJJJDF&K Y^~?yMAF9)JB[[??[f_~?[#[[[[BZYY i) :IH?iY ?))??ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041010.823165 s, next control iter: 1743041011.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041011.203165 s.3K~,|,AAQV@Am/V@A(_~? A0EA>%"AAvNA"AZAbAjArAzAAAF%9@AJk)sA`x@A췻AO=A?A?Ab?A"g*A:?2Aֽ:A\<BA:?JAֽRA\<٘i)I9x@YhG JJJJJFF&K Y^~?yMAF77e9B)MBE[[n-?[%_~?[3[[[[BZYY i) &9IH?i ݓ H?))H?H?o̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041011.223165 s, next control iter: 1743041011.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041011.623165 s.V9K~,X|,AJ"J*J2J:J?BJ?nJL5vJAGV@A,V@A_~? A=Ai%"AAIvNA"AZAbAjArAzAAApoG9@AWHsAF3x@A֭;Av=A}?Ap4?A YU_~?yKA̧?Fj7Z79B)VBE[[?[E_~?[[[[[BZYY i)  ,I'H?i%gRӻ ǚ?))ǚ?ǚ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041012.483165 s, next control iter: 1743041012.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14511, header.stamp.nsec: 00 temperature: 13.563757* salinity: 33.375587, density: 1025.000000* values[0]: 0.581613F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041012.883165 s.yMK~,88},AA(W@AapW@A_~? A'AQ%"AA)wNA"AZAbAjArAzAAAVYY9@A%QsAxv@AgA;AdA=AX?A?A$?Av$*A:?2A(ֽ:A<<BA:?JA(ֽRA<<٘i)I9v@YG JC=JJJJKF&K Y_~?yPKAF779 B)WBE[[?[P_~?[@[[[[BZYY i) rjIH?iO1 |?))|?|?rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041012.903165 s, next control iter: 1743041013.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041013.303165 s.^TK~,gS},AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067255< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743041013.303317F (some fields omitted in printout)AW@A2W@A_~? A+ A%"AA&wNA"AZAbAjArAzAAA*9@AG\csA v@AAs:=AZ ?Aͭ?AP?A*AK:?2A[O׽:A<BAK:?JA[O׽RA<٘i)I9v@YG JJJJJLF&K Y!_~?y9KAFb77[9)[B[[ ?[u[_~?[[[[[BZYY i) IH?i;) ?f?))?f??f?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041013.323165 s, next control iter: 1743041013.703184 s, wait time: 0.380019 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14512*, header.stamp.nsec: 0*0 temperature: 13.563976** salinity: 33.375580*, density: 1025.000000** values[0]: 0.581039*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041013.723165 s.[K~,Hn},AAzX@AW@A_~? AA7w%"AA5wNA"AZAbAjArAzAAA5u9@A}IsAu@A8A=AG?A?A@ (?A#̇*A:?2AM׽:Ac<BA:?JAM׽RAc<٘i)I9u@YG JJJJJNF&K Y)_~?yJީJAF{7{7%9)_B[['?[e_~?[[[[[BZYY i) bIH?iC} *@))*@*@ԵYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041013.743165 s, next control iter: 1743041014.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041014.143165 s._/bK~,,*},AJ"J*J2J:J?BJ?nJ5vJA ףp=X@A Ac0X@A_~? AA %"AAQBwNA"AZAbAjArAzAAAwzˬ89@A`=sA5u@AmghAe]=A#\?Ad?A P?A9*A:?2AQ׽:A<BA:?JAQ׽RA<٘i)I95u@Y=G J̅JJJJOF&K Y]0_~?yթJAF79 B)aBE[[`?[zo_~?[Rܩ[[[[BZYY i_) 2һI(H?i JbP *@))*@*@YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743041014.163165 s, next control iter: 1743041014.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041014.563165 s.hK~,V },AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076843< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743041014.563271F (some fields omitted in printout)A3333sX@An,(fX@A`~? A: AС%"AANwNA"AZAbAjArAzAAA6=s:@AZ%psAt@A+AF=A?A?AKu?Ag*A:?2AKF׽:A><BA:?JAKF׽RA> Y4_~?yͩ'JAٴ?F{7j79B)bBE[[J?[xx_~?[ө[[[[BZYY i) uIH?iV @))@@ڴYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041014.583165 s, next control iter: 1743041014.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14513, header.stamp.nsec: 00 temperature: 13.564130* salinity: 33.375587, density: 1025.000000* values[0]: 0.580536F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041014.983165 s.oK~,},AJ"J*J2J:JBJnJvJA\X@Ai5$X@A `~? A{A8%"AAZwNA"AZAbAjArAzAAAX&(:@A0sAnWt@AGAV=AJu?A@?A ?Ae*Ao:?2Aֽ:AP<BAo:?JAֽRAP<٘i)I9Wt@YG JgC=JJJJRF&K Y@9_~?y`ĩIAF77{79)eB[[:?[ڀ_~?[ʩ[[[[BZYY i) kIrH?ia ^@))^@^@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041015.003165 s, next control iter: 1743041015.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041015.403165 s.&vK~,},AAQX@AX@A`~? AAO%"AAewNA"AZAbAjArAzAAA?P=:@AnsArs@A<Ak=A?A@=?A`q?Až*A :?2Aֽ:A=BA :?JAֽRA=٘i)I9s@YqG JJJJJSF&K Y=_~?ywIAFP9)iB[[?[_~?[[[[[BZYY i) [I~H?ijS  @)) @ @yFYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041015.423165 s, next control iter: 1743041015.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14514", header.stamp.nsec: 0"0 temperature: 13.564305"* salinity: 33.375587", density: 1025.000000"* values[0]: 0.580058"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041015.823165 s.|K~,)},AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076843< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743041015.823304F (some fields omitted in printout)AGzY@AHN&nY@A`~? AAh%"AAowNA"AZAbAjArAzAAAV_P:@Af sArs@Ah<A\=A?A@e?A?AeY*A:?2Aֽ:AKG=BA:?JAֽRAKG=٘i)I9rs@Y+G JȉJJJJTF&K Y#B_~?yIAF9)lB[[c ?[_~?[[[[[BZYY i) z'IqH?iq{ f@))f@f@JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041015.843165 s, next control iter: 1743041016.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041016.243165 s.K~,~~,AAףp=JY@Az2=Y@A`~? AA.%"AAMywNA"AZAbAjArAzAAAi6c:@A`zR،sAZr@A9<A=AB1?As?A?A*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9r@YG JJJJJVF&K YF_~?yFHAFb7b79B)mBE[[?[_~?[`[[[[BZYY i) Q{7IdH?iv[  @)) @ @NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041016.263165 s, next control iter: 1743041016.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041016.663165 s.J "J *J 2J :J Z?BJ Z?nJ 5vJ K~,q*~,AtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14515, header.stamp.nsec: 00 temperature: 13.564477* salinity: 33.375610, density: 1025.000000* values[0]: 0.579506F (some fields omitted in printout)AY@ADrY@Ah%`~? AA=%"AAwNA"AZAbAjArAzAAAg'Dds:@A}sAr@AOp&;A@ =A;?A ?A ?As*A9?2A׽:A=BA9?JA׽RA=Yڥ??y# =&;ٓH? z???`nm?}`d?`?)ڥ? I٘i)I9r@YG JЋJ '<JJJWF&Kx> Y)H_~?y{iHA?F)7ŧ79)qB[[J#?[͛_~?[4[[[[BZYY i) 5FIVH?iD%  @)) @ @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041016.683165 s, next control iter: 1743041017.063183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743041017.083165 s.DK~, SE~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076843< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743041017.083273F (some fields omitted in printout)A)\µY@AY@AR*`~? A!ڪA6%"AA؉wNA"AZAbAjArAzAAAke:@A[+sAr@ArA͎=AX?Aκ?A ?ArJ*A9?2A|j׽:A=BA9?JA|j׽RA=٘i)I9r@YUG JCJJJJXF&K YI_~?y HAF77{9)uB[[0?[Ѡ_~?[[[[[BZYY i) (cVIHHH?i\+  @)) @ @pĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041017.103165 s, next control iter: 1743041017.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041017.503165 s.K~,L4`~,AJ"J*J2J:JBJnJvJARY@AzY@A.`~? A(ҪAM%"AAwNA"AZAbAjArAzAAA4:@An N~sAAq@A_A!ϑ=A?>?A?A"5?A2*A9?2A׽:A.D=BA9?JA׽RA.D=٘i)I9q@Y G JJJJJZF&K YQK_~?y叩GAFb7b7F9B)vBE[[A?[$_~?[[[[[BZYY i) eI|9H?i'0  @)) @ @ȪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743041017.523165 s, next control iter: 1743041017.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14516, header.stamp.nsec: 00 temperature: 13.564674* salinity: 33.375595, density: 1025.000000* values[0]: 0.578973F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041017.923165 s.:K~,{~,AA{G!Z@AA<Z@A2`~? A*ʪA*n&"AA2wNA"AZAbAjArAzAAAC;_:@A=lysAi$q@ArMAߔ=A?A@ع?A@F?AX*A99?2AV׽:AFS =BA99?JAV׽RAFS =٘i)I9$q@YG JݏJJJJ[F&K YL_~?yNGAF79)zB[[YU?[_~?[0[[[[BZYY i) IuIf*H?iVK3 @))@@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041017.943165 s, next control iter: 1743041018.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041018.343165 s.<K~,~,AJ"J*J2J:J%?BJ%?nJX5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076843< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201192 time: 1743041018.343406F (some fields omitted in printout)Ap= WZ@As*JZ@A5`~? A%ªA~ &"AAwNA"AZAbAjArAzAAA'y:@An6؇tsAp@A7EA=AX_?A c?AU?AÛ*A#9?2Aֽ:A9 =BA#9?JAֽRA9 =٘i)I9p@YvG JߖJJJJ\F&K YzN_~?yO~FAF779)~B[[@k?[_~?[[[[[BZYY iN) /_I H?i[5 @))@@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041018.383165 s, next control iter: 1743041018.743178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14517&, header.stamp.nsec: 0&0 temperature: 13.564854&* salinity: 33.375607&, density: 1025.000000&* values[0]: 0.578434&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041018.763165 s.<K~,4ذ~,AǍZ@A=eZ@A8`~? AA7&"AA_wNA"AZAbAjArAzAAAZ~* :@AZEosAup@A;A/=A.?AQ?Aa?A*A9?2ASֽ:A =BA9?JASֽRA =Yr??yU/=s@;ٓH@hhj`?`4?*CL?AA wv??)r? I٘i)I9p@Y%G JJ<JJJ^F&K)x> Y.M_~?yuFA?Fŧ7b79)B[[}}?[ϭ_~?[Lw[[[[BZYY i) 艼IP H?ie2< `@))`@`@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041018.803165 s, next control iter: 1743041019.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041019.183165 s.˲K~,^~,AJ"J*J2J:JBJnJvJA(\Z@A^Z@A:`~? AADD&"AAFwNA"AZAbAjArAzAAA5>C:@A3qQ jsAEo@AoS<Au=A$j?A@?Ak?AÒ*A9?2AYeֽ:A5=BA9?JAYeֽRA5=٘i)I9o@YG JJJJJ_F&K YK_~?yl!FAF77{7p9B)BE[[N?[>_~?[m[[[[BZYY i) pIG?iJA "@))"@"@)תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041019.203165 s, next control iter: 1743041019.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743041019.603165 s.44K~,~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743041019.603292F (some fields omitted in printout)AQZ@A FZ@A<`~? AA&"AAcwNA"AZAbAjArAzAAA}T#H:@A~)esAeo@A>^<Ax=AW?A\{?A6s?Ae1*A9?2Axֽ:Aj=BA9?JAxֽRAj=٘i)I9o@YxG JEJJJJ`F&K YJ_~?ycEAFŧ7b7;9)B[[?[_~?[Ed[[[[BZYY i) /IG?iE  @)) @ @y1ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041019.623165 s, next control iter: 1743041020.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14518 , header.stamp.nsec: 0 0 temperature: 13.565121 * salinity: 33.375584 , density: 1025.000000 * values[0]: 0.577818 F (some fields omitted in printout)BJ_~?)Bc rAdjusting time to match Gazebo time: 1743041020.023165 s.ZK~,|,AJ"J*J2J:JBJnJvJAHz.[@A~;![@A=`~? A졪A&"AAwNA"AZAbAjArAzAAA{:@Ac`sAIqn@A0c;A̡=A ?A`?AQx?A_*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9qn@YG JJJJJbF&K YLI_~?y#[REAF779)B[[?[_~?[Z[[[[BZYY i) gIG?iޛG @))@@eުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041020.043165 s, next control iter: 1743041020.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041020.443165 s.:K~,J],AAq= c[@A V[@A>`~? AٙA&"AA1wNA"AZAbAjArAzAAAߩ%:@A[sAZm@AFA;=Ag?A%?Az?A?*A9?2A*׽:AO=BA9?JA*׽RAO=٘i)I9m@YG J뮼JJJJcF&K YH_~?yWRDAF7779)B[[?[_~?[!Q[[[[BZYY i)  IG?i"H @))@@SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041020.463165 s, next control iter: 1743041020.843180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14519, header.stamp.nsec: 00 temperature: 13.565389* salinity: 33.375614, density: 1025.000000* values[0]: 0.577125F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041020.863165 s.+K~,>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: -0.086086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743041020.863304F (some fields omitted in printout)A[@AX[@A>`~? AőAx&"AAwNA"AZAbAjArAzAAAߒv:@A|WsAyJm@A+H=Aħ=A"?AykAz?AM*A9?2Ac׽:Aa=BA9?JAc׽RAa=Y??y=1=ٓHg¿@?@¿ G?@=⨇?)? I٘i)I9Jm@YkG JJ><JJJdF&K~x> YC_~?yIzDA?Fŧ7b79B)BE[[n?[_~?[G[[[[BZYY i) rgIG?iM  @)) @ @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041020.903165 s, next control iter: 1743041021.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041021.283165 s.6RK~,R,AA(\[@AjTQ[@A|>`~? AA3X&"AAwNA"AZAbAjArAzAAA'*:@ARsA׳l@AdA =A?A@ӒA`@x?AY*A9?2A U׽:A=BA9?JA U׽RA=٘i)I9l@YG JVJJJJfF&K Y?_~?y@ DAF77f9)B[[_?[Q_~?[ >[[[[BZYY i) IG?iR &%@))&%@&%@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041021.303165 s, next control iter: 1743041021.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14520., header.stamp.nsec: 0.0 temperature: 13.565648.* salinity: 33.375591., density: 1025.000000.* values[0]: 0.576420.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041021.703165 s.ԺK~,m,AJ"J*J2J:JBJnJvJAQ\@A[@A=`~? AA&"AAЫwNA"AZAbAjArAzAAAZ2rļ:@A`;@%MsAl@AfA$=AH?A As?A`*A99?2A=׽:A=BA99?JA=׽RA=٘i)I9l@YG JB=JJJJgF&K Y;_~?y;8CAF77719)B[[ ;?[H_~?[w4[[[[BZYY i) IG?i3gT Э@))Э@Э@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041021.723165 s, next control iter: 1743041022.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041022.123165 s.6K~,X,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743041022.123277F (some fields omitted in printout)AG:\@A-\@A(<`~? AyAe&"AAwNA"AZAbAjArAzAAA/p:@Ag0Q9HsA*tk@Aq|5:A°=AE?AAk?A=ȼ*A59?2AÑֽ:A=BA59?JAÑֽRA=٘i)I9tk@YMG J¼C=JJJJhF&K Ya7_~?y/(CAFŧ7b79B)BE[[\?[~_~?[*[[[[BZYY i) dwżIG?iDV m8@))m8@m8@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041022.143165 s, next control iter: 1743041022.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041022.543165 s.IK~,â,AJ"J*J2J:JBJnJvJA= ףp\@AR(c\@A5:`~? AqA0&"AAwNA"AZAbAjArAzAAA NJ:@A62OCsA{j@A$<AX=AeH?AA@a?AѼ*A9?2A{;ֽ:A=BA9?JA{;ֽRA=٘i)I9j@YG J{̼JJJJjF&K Y:3_~?y&BAF77{79)B[[|?[_~?[`![[[[BZYY i) ̼I#pG?iI7 V g@))g@g@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041022.563165 s, next control iter: 1743041022.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14521, header.stamp.nsec: 00 temperature: 13.565959* salinity: 33.375603, density: 1025.000000* values[0]: 0.575656F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041022.963165 s.{K~,,AAffff\@A[\@A7`~? AxiA&"AACwNA"AZAbAjArAzAAAz :@AF`g>sAMj@Ah<AB=A?AͳAU?AVּ*A9?2A+ֽ:A1 =BA9?JA+ֽRA1 =Y??y=Ph<ٓH }Ͽ@M m?sϿ?V?]?)? I٘i)I9j@YxG JԼJes<JJJkF&Kx> YB,_~?yO?BA?Fŧ7b79B)BE[[i?[_~?[[[[[BZYY i) ӼI]G?icZ DK!@))DK!@DK!@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041022.983165 s, next control iter: 1743041023.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743041023.383165 s.K~,4,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743041023.383297F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AW\@A4`~? AsaAj&"AA)wNA"AZAbAjArAzAAAץz:@A\9sA`i@AD1<A=Af}?AuAF?Aټ*A9?2Apiֽ:A3=BA9?JApiֽRA3=٘i)I9`i@Y G J]ؼJJJJlF&K YK%_~?yAAFb77[9)B[[,?[_~?[r[[[[BZYY i) .ۼI1KG?i欿eO] "@))"@"@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041023.423165 s, next control iter: 1743041023.783178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14522", header.stamp.nsec: 0"0 temperature: 13.566279"* salinity: 33.375587", density: 1025.000000"* values[0]: 0.574827"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041023.803165 s.vAK~,wg,AA]@A`]@A:1`~? AtYA &"AABwNA"AZAbAjArAzAAA%4J:@A*4sAFh@A:A=A3?AmA5?A?ؼ*A9?2Aֽ:An=BA9?JAֽRAn=٘i)I9h@Y G JټJJJJnF&K YT_~?yD LAAFŧ7b7&9B)BE[[?[ߍ_~?[[[[[BZYY i) \Iy8G?i"G^ `$@))`$@`$@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041023.843165 s, next control iter: 1743041024.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041024.223165 s.g K~,H,AJ"J*J2J:J ?BJ ?nJ05vJAzG]@A :]@A--`~? A{QA &"AAwNA"AZAbAjArAzAAAn.:@AL @/sAg@AAP=A@?AAA!?Aּ*A9?2A+'׽:A%=BA9?JA+'׽RA%=٘i)I9g@Y, G J׼JJJJoF&K Y]_~?y@AF779)B[[?[W_~?[[[[[ZZ¸BZYY i¸8F=) SּI%G?iQ _ 4%@))4%@4%@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743041024.263165 s, next control iter: 1743041024.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041024.643165 s.{ K~,*),AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083142< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743041024.643288F (some fields omitted in printout)A ףp}]@Avhp]@A(`~? AIA]> &"AA wNA"AZAbAjArAzAAA՟}:@As*sAo@g@A_bA2=A?A@A ?ADD׼*A|9?2Ac>׽:AH=BA|9?JAc>׽RAH=٘i)I9@g@Y G JּJJJJqF&K Ye_~?y9Z@A Fb779)ůB[[)?[~_~?[P[[[[ZZBZYYtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14523, header.stamp.nsec: 00 temperature: 13.566653* salinity: 33.375587, density: 1025.000000* values[0]: 0.573982F (some fields omitted in printout) i) IʼIG?is^ {'@)){'@{'@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041024.683165 s, next control iter: 1743041025.043178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041025.063165 s. K~,c D,AJ"J*J2J:JBJnJvJA3333]@A*]@A#`~? AAA/ &"AAwNA"AZAbAjArAzAAAϙm:@A 97&sAtxf@AHA/հ=A.?A`ÿA`c?A2*A9?2A~ ׽:AbY<BA9?JA~ ׽RAbY  9Y_~? 9y?A ? F779B)ͯBE[[M?[u_~?[[[[[ZZBZYY i) CNI+G?i寿e&a g)@))g)@g)@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041025.083165 s, next control iter: 1743041025.463181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743041025.483165 s._ K~,^,AA\]@A]@A`~? A9AQs &"AAwNA"AZAbAjArAzAAA~CY\:@ACF!sAe@AuAF=A ?A :ſA1?A*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9e@Y G JJJJJsF&K Y^~?ym?A F{7Q9B)ӯBE[[q?[[k_~?[ߨ[[[[ZZBZYY i) /RIF?iKb Q*@))Q*@Q*@y=y֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041025.523165 s, next control iter: 1743041025.883191 s, wait time: 0.360026 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14524, header.stamp.nsec: 00 temperature: 13.395337* salinity: 33.394562, density: 1025.000000* values[0]: 0.688187F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041025.903165 s. K~,y,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083142< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743041025.903331F (some fields omitted in printout)AQ^@Aլ^@A`~? A1A &"AAvwNA"AZAbAjArAzAAA\yJ:@A&$~sAd@A}(;AMy=A9?AǿAz?Aj *A9?2Aֽ:An<BA9?JAֽRAn<٘i)I9d@Y9 G JJJJJuF&K YD^~?yt>AF7ŧ79)گB[[?[`_~?[֨[[[[ZZBZYY i) VIF?in`c ,@)),@,@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041025.943165 s, next control iter: 1743041026.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743041026.323165 s.x$ K~,-,AAGzT^@A"nG^@A `~? A*As &"AA*mwNA"AZAbAjArAzAAA6SYm5:@AxܴsAc@AG<Ay4=A?AȿA`/?A;Pټ*AϿ9?2A7ֽ:A ;BAϿ9?JA7ֽRA ;٘i)I9c@Y G JJJJJvF&K Y^~?y2ۨ>AF779B)B E[[?[U_~?[ͨ[[[[ZZBZYY i) V[IF?iwb ȭ-@))ȭ-@ȭ-@n}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041026.343165 s, next control iter: 1743041026.723179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14525., header.stamp.nsec: 0.0 temperature: 13.387969.* salinity: 33.391647., density: 1025.000000.* values[0]: 0.690315.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041026.743165 s.W+ K~,q,AJ"J*J2J:JBJnJvJAףp=^@ACr2}^@A `~? A\"A\= &"AAbwNA"AZAbAjArAzAAAH :@A0sAOc@AF<A<AP3@AʿA@y?A*A19?2Asֽ:ABA19?JAsֽRA٘i)I9Oc@YX G J8ʼJJJJwF&K Y^~?yҨ >AFS779)B[[?[I_~?[Ĩ[[[[ZZBZYY i) ^I'F?i*I6` =/@))=/@=/@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041026.783165 s, next control iter: 1743041027.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041027.163165 s.x}2 K~,qʀ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083142< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743041027.163292F (some fields omitted in printout)A^@A+^@AT`~? AAn &"AAWwNA"AZAbAjArAzAAAqg :@AnJsAkb@AO;Aܷ<A@AS̿A W?Az*AP9?2A"ֽ:A;BAP9?JA"ֽRA;Y?@yK<U;ٓHۿ@vE?` ?@3ۿ@H? v u?`?)? I٘i)I9b@Y G JJP;JJJyF&K3w> Yu^~?y˨=A@F7{7{ 9)B E[[@[9=_~?[廨[[[[ZZBZYY i%=) fI)F?i,b 0@))0@0@6nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041027.183165 s, next control iter: 1743041027.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041027.583165 s.8 K~,R,AJ"J*J2J:Jc0?BJc0?nJ85vJA)\^@A̛õ^@A,_~? AAj&"AAKwNA"AZAbAjArAzAAAgZ9@A7 sAib@A▻AA ֻA@A&aοA1?AI~0*A9?2AHTֽ:AqBA9?JAHTֽRAq٘i)I9ib@Y G JeJJJJzF&K Y^~?yè=AF7F 9B)BE[[@[/_~?[[[[[ZZBZYY i=) DuIF?i,b hY2@))hY2@hY2@(YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743041027.603165 s, next control iter: 1743041027.983175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14526 , header.stamp.nsec: 0 0 temperature: 13.388228 * salinity: 33.391659 , density: 1025.000000 * values[0]: 0.689025 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041028.003165 s.y @ K~,P4,AAR+_@Acx_@A_~? A` A&"AA>wNA"AZAbAjArAzAAAuM9@AQFr`sA0b@A`KAsA9@A=пAq ?Aڡ*A9?2A(ֽ:A BA9?JA(ֽRA ٘i)I90b@Y G JJJJJ{F&K Y^~?y =AF7)79)B[[,@[!_~?[m[[[[ZZBZYY i) :aI {F?iIb 3@))3@3@)YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743041028.023165 s, next control iter: 1743041028.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041028.423165 s.uF K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743041028.423291F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga_@AiUK:T_@A__~? AA&"AAy1wNA"AZAbAjArAzAAA._9@A[sA:b@AJdA-Ab@AпA?A8*A9?2AD&ֽ:A!ҼBA9?JAD&ֽRA!Ҽ٘i)I9b@Y G J(AJJJJ}F&K YM^~?y0=AFb779B)BE[[@[._~?[ݡ[[[[BZYY i) MIQhF?i﮿f_ z5@))z5@z5@yTE=2*YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743041028.443165 s, next control iter: 1743041028.823179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14527", header.stamp.nsec: 0"0 temperature: 13.388381"* salinity: 33.391689", density: 1025.000000"* values[0]: 0.688396"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041028.843165 s.L K~,5,AAp= _@A4J_@A_~? ASA&&"AAD#wNA"AZAbAjArAzAAA\}ZL#9@Az#rA%b@AAQK1A@A@ѿA৲?AL]_;*A39?2A~Zֽ:ABA39?JA~ZֽRA켙٘i)I9%b@Y G J:JJJJ~F&K Y^~?y?=AF9)E[[DS@[_~?[p[[[[BZYY i)  :IUF?i;u\ B 7@))B 7@B 7@n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041028.863165 s, next control iter: 1743041029.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041029.263165 s.T K~,0P,AJ"J*J2J:JBJnJvJA_@A1~¿_@A_~? AAѸ&"AAOwNA"AZAbAjArAzAAAeh~9@AOj>rAFb@A:?:AjVA@A@ҿA?Aq;*A9?2Aέֽ:ABA9?JAέֽRAY?@yjV:ٓH3x?*?`b5ʪ?W??)? I٘i)I9Fb@Y G J;JJJJF&Kw> Y^~?y>A@F)7ŧ7q9)B[[@[^~?[![[[[BZYY ivAg=) r)I4CF?i׬;=] 8@))8@8@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041029.303165 s, next control iter: 1743041029.663181 s, wait time: 0.360016 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 145282, header.stamp.nsec: 020 temperature: 13.3884122* salinity: 33.3916702, density: 1025.0000002* values[0]: 0.6883612F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041029.683165 s.lZ K~,Zk,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056459< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743041029.683282F (some fields omitted in printout)A(\`@A _@A_~? AAfI&"AAwNA"AZAbAjArAzAAA/0^9@Ai!vrA~b@AГ(<AAFj7Z7<9B)E[[x @[?^~?[[[[[BZYY i) `I0F?iep\ $(:@))$(:@$(:@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041029.683165 s, next control iter: 1743041030.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743041030.103165 s.a K~,Ú,AJ"J*J2J:JBJnJvJAQ8`@AE+`@A۾_~? A9A&"AA)vNA"AZAbAjArAzAAAe1O<9@A_wJrA!b@Aj^<AA @A`)ԿAM?AJY<*A9?2Aֽ:A|BA9?JAֽRA|٘i)I9b@Y G J:<JJJJF&K Y?u^~?yĔ>AF779)B[[ @[^~?[耨[[[[BZYY i ʆ=)  ILF?i檿Z ;@));@;@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041030.123165 s, next control iter: 1743041030.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041030.523165 s.g K~,{,AAHzn`@AV a`@AE_~? AީAf&"AAvNA"AZAbAjArAzAAA^9@A-][տA%?AG<*AD9?2A=ֽ:A BAD9?JA=ֽRA I٘i)I92c@YF G J@p<JJJJF&K Y[f^~?yE>AFŧ7b79 B)BE[[2 @[(^~?[y[[[[BZYY i) jI2 F?iX{W G=@))G=@G=@y g=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041030.543165 s, next control iter: 1743041030.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14529, header.stamp.nsec: 00 temperature: 13.388311* salinity: 33.391705, density: 1025.000000* values[0]: 0.688764F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041030.943165 s.Zdn K~,J],AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065815< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743041030.943296F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף`@A'L͖`@A7_~? AשA&"AAvNA"AZAbAjArAzAAA{~8@A?urAc@A:A#%A]9 @A@T1ֿA?A<*Ap9?2Agֽ:A_]BAp9?JAgֽRA_]٘i)I9c@Y G JP<JJJJF&K YxW^~?yƅ/?AF77779)B[[,@[ŭ^~?[Kq[[[[BZYY i) лI{E?iR >@))>@>@y!G=%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041030.963165 s, next control iter: 1743041031.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041031.363165 s.u K~,>ׁ,AA`@AVG`@A_~? AЩA ~&"AAvNA"AZAbAjArAzAAA..8@A[Ǽ1rAw-d@A2A陽A{@A׿A`r?A<*Aè9?2Aֽ:A,rBAè9?JAֽRA,rY@@yB虽ٓH@~w^<أ?H?@ߝe8?L&@?)@ I٘i)I9-d@Y G J<J`^JJJF&Kw> Y>F^~?y~?A@F77f9 B)BE[[b@[Ě^~?[i[[[[BZYY i) IE?iuR d@@))d@@d@@n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041031.403165 s, next control iter: 1743041031.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14530&, header.stamp.nsec: 0&0 temperature: 13.388161&* salinity: 33.391708&, density: 1025.000000&* values[0]: 0.689530&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041031.783165 s.X{ K~,,AJ"J*J2J:J0?BJ0?nJ95vJA(\a@A Oa@A_~? AɩA&"AA@vNA"AZAbAjArAzAAA ي8@AKrbrAd@AhZ_AA@A׿A6?AϮ<*A9?2A}ֽ:AڌBA9?JA}ֽRAڌ٘i)I9d@Y6 G Jy<JJJJF&K Y5^~?yw?A!F7719)B[[~L@[/^~?[Db[[[[BZYY i) iI@E?iP A@))A@A@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041031.823165 s, next control iter: 1743041032.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743041032.203165 s. K~, ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065815< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743041032.203291F (some fields omitted in printout)AQEa@A 8a@AM_~? A©Ar&"AAGvNA"AZAbAjArAzAAA~8@AwrA^Qe@AVG8A!AW@AĨؿA`?A<*A9?2AIֽ:AXBA9?JAIֽRAX٘i)I9Qe@Y G J<JJJJF&K Y#^~?ype@A"F9 B)BE[[f@[s^~?[[[[[[BZYY i) lIE?i!M $C@))$C@$C@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041032.223165 s, next control iter: 1743041032.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041032.623165 s.Y K~,e',AJ"J*J2J:JBJnJvJAGza@A:wma@Amr_~? AA&"AAvNA"AZAbAjArAzAAAwaT8@A#$rAe@A3`AA6Axk@AyٿA5?Ad<*AѴ9?2Aֽ:Ao BAѴ9?JAֽRAo ٘i)I9e@Y G J<JJJJF&K Y^~?yi@A#Fb77!9B)ޯBE[[i@[}^^~?[S[[[[BZYY i) <0IE?iRW_I  E@)) E@ E@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041032.643165 s, next control iter: 1743041033.023182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14531, header.stamp.nsec: 00 temperature: 13.387970* salinity: 33.391705, density: 1025.000000* values[0]: 0.690518F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041033.043165 s. K~,B,AA= ףa@A񝘣a@Ad_~? AIA>&"AACmvNA"AZAbAjArAzAAA*O)8@A[UlrAyf@Ad.;A™AM@A HڿAMr?A*h<*A޸9?2Aֽ:A}BA޸9?JAֽRA}٘i)I9yf@YE G J<JJJJF&K YY^~?yb4AA%Fŧ7b7#9B)ۯBE[[@[pI^~?[M[[[[BZYY i) IE?iݘGC F@))F@F@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041033.083165 s, next control iter: 1743041033.443181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743041033.463165 s.Z K~,],AJ"J*J2J:J0?BJ0?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065815< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743041033.463301F (some fields omitted in printout)Affffa@A[a@ARU_~? AA&"AA? ??)4@ I٘i)I9 g@Y G Jު<J;JJJF&K?x> Y]~?y\AA @&F)7ŧ7\%9B)ٯBE[[@[3^~?[=F[[[[BZYY i) Q]IOE?ip7B [%H@))[%H@[%H@+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041033.503165 s, next control iter: 1743041033.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14532, header.stamp.nsec: 00 temperature: 13.387725* salinity: 33.391724, density: 1025.000000* values[0]: 0.691519F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041033.883165 s.y K~,Af@A rۿA?A<*AF9?2A׽:AhBAF9?JA׽RAh٘i)I9g@Y G J<JJJJF&K Y]~?yVBA'Fb77&'9)ԯB[[&@[^~?[?[[[[BZYY i) `b8I;E?iEo? nH))nHưI@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041033.903165 s, next control iter: 1743041034.283179 s, wait time: 0.380014 s]~?)V rAdjusting time to match Gazebo time: 1743041034.303165 s.S K~,jg,AJ"J*J2J:JBJnJvJAQb@AmDb@Ay6_~? AA&"AA0)vNA"AZAbAjArAzAAA47@AomrA"h@A0;AA{@A@ܿA?AHT<*A9?2Aֽ:ATBA9?JAֽRAT٘i)I9"h@YH G J<JJJJF&K Y]~?yOfBA)F77{7(9B)ӯBE[[@[^~?[A9[[[[BZYY i) O:ItE?iY T; QF))QFd elevatorAngleAction: 0.065815< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743041034.723306F (some fields omitted in printout)Azb@AAgҦzb@Ak&_~? AHA)&"AA4vNA"AZAbAjArAzAAAsQOn7@A mrAh@AAA4@A\ݿAxQ?A<*A9?2Ahֽ:AYBA9?JAhֽRAY٘i)I9h@Y G J<B=JJJJF&K Y]~?ySIBA*F*9)ίB[[$@[]~?[ 3[[[[BZYY i) fl:I5eE?i5 WE))WEL@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041034.743165 s, next control iter: 1743041035.123180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041035.143165 s.U/ K~,*ɂ,AJ"J*J2J:JBJnJvJA ףpb@At2@Ak޿A` ?AĦ<*A9?2AAֽ:ABA9?JAAֽRA٘i)I9 Y]~?y/=CA@-Fj7j7Q.9B)ɯBE[[5@[]~?[4'[[[[BZYY i=) sx;IGE?i놿;, DB))DBO@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041035.583165 s, next control iter: 1743041035.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14534, header.stamp.nsec: 00 temperature: 13.387339* salinity: 33.391743, density: 1025.000000* values[0]: 0.693442F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041035.983165 s. K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074558< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743041035.983304F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(c@A:c@A^~? AֈA&"AAuNA"AZAbAjArAzAAAs6@Aa4JrAMj@A?A_Ak@A߿A e?Arc<*A9?2Aֽ:ABA9?JAֽRA٘i)I9Mj@YG J<JJJJF&K Y}u]~?yp7CA.F7709)įB[[D @[]~?[![[[[BZYY i) ;I9E?i􃿉O( @))@cQ@-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041036.003165 s, next control iter: 1743041036.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041036.403165 s.& K~,,AAQ^c@Aq8Qc@A(^~? A炩Az&"AAuNA"AZAbAjArAzAAAWU6@AqgrAj@Ak!;ANA+@A@ A@-?A<*A)9?2A ֽ:ABA)9?JA ֽRA٘i)I9j@YG J<JJJJF&K Y`]~?y1MDA/Fb7719B)ůBE[[AE"@[]~?[[[[[BZYY i) ;I ,E?iv# ?3?))?3?vR@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041036.443165 s, next control iter: 1743041036.803177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14535", header.stamp.nsec: 0"0 temperature: 13.387148"* salinity: 33.391735", density: 1025.000000"* values[0]: 0.694379"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041036.823165 s. K~,G4,AJ"J*J2J:JBJnJvJAGzc@A'jinc@A^~? A}A&"AAuNA"AZAbAjArAzAAAus檘h6@A)EnrAoBk@A.3<A2݇A@A@yAK?Az<*AB9?2Ac*׽:A%BAB9?JAc*׽RA%٘i)I9Bk@Y/G J|<JJJJF&K YJ]~?y+DA1F77739B)įB޹E[[R#@[7w]~?[[[[[BZYY i) ;IE?iuf =))=tT@y|=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041036.863165 s, next control iter: 1743041037.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041037.243165 s. K~,qO,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074558< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743041037.243292F (some fields omitted in printout)Aףp=c@As4c@A^~? AcwA ^&"AAftuNA"AZAbAjArAzAAA)˳06@AfrAk@A_<A/qA @AAc?AX<*A9?2AI&׽:ABA9?JAI&׽RA٘i)I9k@YtG J]<JJJJF&K YH5]~?y1& EA2Fb7b7|59)B[[M%@[^]~?[[[[[BZYY i) ߻;I>E?ii* #<))#<U@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041037.263165 s, next control iter: 1743041037.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041037.663165 s. K~,qj,AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14536, header.stamp.nsec: 00 temperature: 13.386991* salinity: 33.391743, density: 1025.000000* values[0]: 0.695139F (some fields omitted in printout)Ad@Ac@Aܪ^~? AqAR&"AA4XuNA"AZAbAjArAzAAA95@A%T;rA6'l@Ah<A6AI"@A #A ?A<*A9?2Aֽ:ABA9?JAֽRAY @("@y<ٓH`.K@R?E?y@D4?@ ͂?`"?) @ I٘i)I9'l@YG J<JrY;JJJF&K"x> Y]~?y'!gEA"@3F{7Z7G79 B)B۹E[[&@[zD]~?[ [[[[BZYY i) Y` 9))>9wY@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041038.123165 s, next control iter: 1743041038.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041038.503165 s. K~,D4,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074558< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743041038.503280F (some fields omitted in printout)J"J*J2J:JBJnJvJARkd@A8~^d@A/^~? AfA&"AA-uNA"AZAbAjArAzAAA%*Lk5@A2D뢠rAGm@AA."A$@AHA?AB<*A9?2A_Oֽ:A#BA9?JA_OֽRA#٘i)I9m@YKG J <JJJJF&K Y\~?y FA6F{7{7:9#B)BչE[[L)@[t]~?[[[[[BZYY i) ah*9&B)BѹE[[,@[\~?[[[[[BZYY i) mI elevatorAngleAction: 0.074558< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743041039.763290F (some fields omitted in printout)A e@A ld@AG^~? AWA:&"AA7tNA"AZAbAjArAzAAA#4@AH-PrAn@A{VAA(@AdA`t?A˕<*A9?2Aֽ:ABA9?JAֽRAY @.(@yzٷٓH@{ ߿r2?@@?@Ɫ@,?@b`N?) @ I٘i)I9n@Y4G Jl<JTJJJF&K/x> YĨ\~?y:GA(@:F7{7<@9'B)BιE[[R.@[\~?[[[[[BZYY i) 'X elevatorAngleAction: 0.083665< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743041041.023302F (some fields omitted in printout)AHze@Amɪe@A#^~? AIA&"AActNA"AZAbAjArAzAAA#RQ 4@A_vrA[p@A#E<AkȖAڋ,@AA@n?AhG<*A9?2A ׽:Ab BA9?JA ׽RAb ٘i)I9p@YG J<C=JJJJF&K Y^\~?y_HA>F77j7E9*B)BȹE[[2@[co\~?[[[[[BZYY i) R<4@[T\~?[[[[[BZYY i)  O -))O -fe@y)Z=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041041.463165 s, next control iter: 1743041041.843187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14540, header.stamp.nsec: 00 temperature: 13.386309* salinity: 33.391747, density: 1025.000000* values[0]: 0.698545F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041041.863165 s.+!K~,>w,AJ"J*J2J:J2?BJ2?nJ;5vJAf@A7ُ f@AW]~? A@A&"AA!tNA"AZAbAjArAzAAAM3@A1 1erAMq@AAA/@A`A?A<*A^9?2AUֽ:AMBA^9?JAUֽRAMYK!@n/@y^ٓHP Iٿi?0?Hex ?;@v@?)K!@ I٘i)I9q@YG J<C=J,RJJJF&Kw> Y,\~?y*IA/@AF72I9-B)B¹E[[f5@[o8\~?[[[[[BZYY i) I{ elevatorAngleAction: 0.083665< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743041042.283296F (some fields omitted in printout)A(\Of@A&PBf@A]~? A<A#&"AAMtNA"AZAbAjArAzAAA^59A3@AT܆rAq@AMAhAT0@AAA@?A<*A9?2A$ֽ:A'BA9?JA$ֽRA'٘i)I9q@YG J<JJJJF&K Y)\~?yIABFZ7Z7J9)B[[,7@[\~?[1[[[[BZYY i)  elevatorAngleAction: 0.083665< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743041043.543283F (some fields omitted in printout)A= ףf@A *f@A]~? A/1A&"AA'sNA"AZAbAjArAzAAAi?Dr2@A"rAls@AcH;A實AR4@A@A 1(?A<*A9?2A)ֽ:ABA9?JA)ֽRA٘i)I9ls@Y'G J<JJJJF&K YW[~?y8JAFF7777\P93B)BE[[?;@[[~?[ާ[[[[BZYY i) ~!K~,,AAffff&g@AjjZg@A;j]~? A-AB &"AAvsNA"AZAbAjArAzAAA+2@ADZ}rAt@Aû8<AiA85@A`'A I?Ap<*A9?2AP%׽:AC-BA9?JAP%׽RAC-Y͕'@5@yG]9<ٓHmӿa??Gjq?@X??)͕'@ I٘i)I9t@YG J<JNmJJJF&KMx> Yk[~?y@KA5@GF77'R94B)BE[[<@[[~?[ܧ[[[[BZYY i) Է@[[~?[Zۧ[[[[BZYY i) + elevatorAngleAction: 0.083665< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743041044.803284F (some fields omitted in printout)Ag@Aug@A:]~? A&A &"AA.sNA"AZAbAjArAzAAA?Ir1@AyyrAq>u@A?%<AAB8@A@TA ?AQR<*A9?2ALֽ:AjBA9?JALֽRAj٘i)I9>u@YCG Ji<JJJJF&K Ys[~?yRާ#LAJFŧ7ŧ7U9)B[[?@[u[~?[٧[[[[BZYY i) U[~?[ק[[[[BZYY iý=) . elevatorAngleAction: 0.092657< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743041046.063269F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333h@Aߡ(&h@Am\~? AAM!&"AAKrNA"AZAbAjArAzAAA6S0@AZa<trAAw@A?`A$xAX <@A<A@?A]<*A9?2APֽ:AABA9?JAPֽRAAY.@<@ysaٓH:`}ɿ?)?DV a'? ~?).@ I٘i)I9Aw@Y|G J<C=J JJJF&Kw> Y"[~?yJק}MA<@NF77{7[99B)BE[[D@[#"[~?[ק[[[[BZYY i) fBZYY i¸>) oh@A\AI-?Aq<*Ac~9?2A4ֽ:ABAc~9?JA4ֽRA٘i)I9x@YTG J<JJJJF&K YZ~?yӧkNAQF77^9: 8))8}y@y`B½j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041047.343165 s, next control iter: 1743041047.723179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14546*, header.stamp.nsec: 0*0 temperature: 13.384937** salinity: 33.391727*, density: 1025.000000** values[0]: 0.705305*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041047.743165 s.W{!K~,,AJ"J*J2J:JBJnJvJAףp= i@A_D1h@AZ\~? AQA"&"AA+rNA"AZAbAjArAzAAA:V=>'/@A꬯+nrA4;z@A^<A;APfA@AJAx?A7<*A9?2Aeֽ:A㴼BA9?JAeֽRA㴼٘i)I9;z@YLG J<JJJJF&K YZ~?y9ЧYOASF77{7Gb9)kB[[ήI@[Z~?[է[[[[ZZZZBZYY i)  n; ))))+z@y!S@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041047.763165 s, next control iter: 1743041048.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041048.163165 s.v}!K~,q ,AA@i@AN]2i@A9v\~? AIA6;"&"AArNA"AZAbAjArAzAAAlA.@Ag lrA {@AH<AX.vA4B@AA0?A5[<*A|9?2Aֽ:A,bBA|9?JAֽRA,bY4@B@y)v\I<ٓH@$Xo9?!?vy?`u?@??)4@ I٘i)I9 {@YG J<B=Ji=JJJF&Kx> YmZ~?yWϧOAB@UFŧ7ŧ7d9?B)fBE[[K@[Z~?[֧[[[[ZZZZBZYY i) )(; ))c|@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041048.183165 s, next control iter: 1743041048.563179 s, wait time: 0.380014 smZ~?)Wϧ rAdjusting time to match Gazebo time: 1743041048.583165 s.!K~,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: -0.083488< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743041048.583282F (some fields omitted in printout)A)\ui@ALP÷hi@A\\~? AjAka"&"AAqNA"AZAbAjArAzAAAʃA^-@AskrA/{@A~;A`3AC@A@&A`_?Aa<*A9?2Aةֽ:AoƻBA9?JAةֽRAoƻ٘i)I9{@Y=G JA<C=JJJJF&K YP{Z~?yuΧOAVF7777e9@B)bBE[[xL@[|Z~?[v֧[[[[ZZZZBZYY i) {G; /O))/O}@x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041048.603165 s, next control iter: 1743041048.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14547, header.stamp.nsec: 00 temperature: 13.384624* salinity: 33.391701, density: 1025.000000* values[0]: 0.706834F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041049.003165 s.} !K~,a4@,AARi@Ayi@AC\~? AA"&"AA+qNA"AZAbAjArAzAAAA v\-@AKDjrAh|@AfA;ۼAz?E@A A ?AP<*Aj9?2Aֽ:Ay:BAj9?JAֽRAy:٘i)I9h|@YG J<JJJJF&K Y2_Z~?yͧQPAXFŧ77g9AB)^BE[[XM@[waZ~?[ק[[[[ZZZZBZYY i) ?)k; e))eP<@'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041049.043165 s, next control iter: 1743041049.403183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743041049.423165 s.u!K~,[,AJ"J*J2J:J5?BJ5?nJ=5vJA{Gi@Al@i@A*\~? A( Ay"&"AAqNA"AZAbAjArAzAAA=j,@A}?3irA|@A22>A4"AcF@A{ A?ANW<*Aե9?2Aֽ:AZ%<BAե9?JAֽRAZ%<٘i)I9|@YG J<JJJJF&K YCZ~?y̧PAYFZ7SI7ri9BB)ZBE[[I9O@[}FZ~?[ק[[[[ZZZZBZYY i) ~<; x))xnS@ i)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041049.443165 s, next control iter: 1743041049.823176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14548", header.stamp.nsec: 0"0 temperature: 13.384372"* salinity: 33.391724", density: 1025.000000"* values[0]: 0.708034"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041049.843165 s.ݜ!K~,u,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083488< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743041049.843306F (some fields omitted in printout)Ap= j@AJ m j@A\~? A AK"&"AAkqNA"AZAbAjArAzAAAM&,@AlQ6UhrALQ}@ACA\;AG@AF#A`O?A<<*A֟9?2Aֽ:Ap<BA֟9?JAֽRAp<٘i)I9Q}@Y-G Jl<JJJJF&K Y&Z~?y˧PAZF777=k9@B)UBE[[;P@[+Z~?[ا[[[[ZZZZBZYY i) 9h$ؠ; ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041049.883165 s, next control iter: 1743041050.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041050.263165 s.!K~,ؐ,AJ"J*J2J:J]5?BJ]5?nJ->5vJALj@A?j@A[~? A A"&"AAEqNA"AZAbAjArAzAAA}+@AP4hrA}@ARA#:<AnHA K6AN?A`;*A9?2Anֽ:A<BA9?JAnֽRAJJJF&K?w> Y Z~?y˧PAH\F77m9AB)TBE[[Q@[Z~?[٧[[[[ZZZZBZYY i@r) x*V5vJAq= #k@Amqk@An[~? A?A6"#&"AApNA"AZAbAjArAzAAA}6@)@Aĥ(+2frA/}@A^<Az=ACAhA@?A%>*A9?2A3ֽ:AG =BA9?JA3ֽRAG =٘i)I9/}@YG J#B=JJJJF&K YhY~?y˧fPAaF772t9)YBE[[9]W@[ߧY~?[ߧ[[[[BZYY i)  ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.070041< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743041052.363312F (some fields omitted in printout)AYk@A)Lk@Ayu[~? AA ,#&"AABpNA"AZAbAjArAzAAA{z(@AgerAm|@A5A%=AzBA`nAw?Arf*A9?2A<ֽ:A =BA9?JA<ֽRA =Y͝A@{By%==ٓH`H?` a5 j!fP?)͝A@ I٘i)I9|@YG JQC=J=JJJF&Kw> YN}Y~?y̧ PA{BbF7u9CB)\BE[[X@[Y~?[[[[[BZYY ij) ;I\D?ixQ?y< )):@TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041052.403165 s, next control iter: 1743041052.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14551&, header.stamp.nsec: 0&0 temperature: 13.384390&* salinity: 33.391689&, density: 1025.000000&* values[0]: 0.708312&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041052.783165 s.\!K~,2,AJ"J*J2J:JBJnJvJA(\k@A:Uk@A~[[~? AA2#&"AAYpNA"AZAbAjArAzAAA$'@A)ʎerAo|@AݷAt=AG#AArAJ?A샼*A9?2Aֽ:A^T=BA9?JAֽRA^T=٘i)I9o|@YG JlvJJJ\FJF&K Y3aY~?yͧOAdFb77w9)_B}E[[ Z@[jtY~?[[[[[BZYY i) [;IRD?i{^?c< I))I@/ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041052.823165 s, next control iter: 1743041053.183182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743041053.203165 s.!K~,M,AAQk@A k@AA[~? AA6#&"AA2pNA"AZAbAjArAzAAAAi?'@A͗erA{@A!7XA=A?A;tAN4Ag*A9?2Azֽ:A4 =BA9?JAzֽRA4 =٘i)I9{@Y\G JJJJJF&K YEY~?yΧROAeFb7y9)cBzE[[`[@[)[Y~?[[[[[BZYY i) ;ID?i@m?< ))@|ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041053.223165 s, next control iter: 1743041053.603174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743041053.623165 s.Z!K~,ig,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: -0.057341< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743041053.623295F (some fields omitted in printout)AGk@Ak@A'[~? AA,6#&"AA! pNA"AZAbAjArAzAAA{ |C&@A UerA u{@A@A=A>ASsAAM*AQ9?2APֽ:AL =BAQ9?JAPֽRAL =٘i)I9u{@Y G JǝJJJJF&K Y)Y~?yzϧNAfF{7j7]{9)hBwE[[\@[>BY~?[N[[[[BZYY i) l;IE?i}?j"< ))\K@y;kתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041053.643165 s, next control iter: 1743041054.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14552 , header.stamp.nsec: 0 0 temperature: 13.384592 * salinity: 33.391682 , density: 1025.000000 * values[0]: 0.707503 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041054.043165 s.!K~,Â,AA= ף0l@A噗#l@A [~? AA$3#&"AAoNA"AZAbAjArAzAAApc&@A)}erAz@A7AƝ=A`F=A` pA֨A F*A9?2A^ֽ:A6 =BA9?JA^ֽRA6 =٘i)I9z@YG JbJJJJF&K Y Y~?yaЧNAhF77{7'}9)lBuE[[^@[)Y~?[[[[[BZYY if) ;IVE?i?D.< *))*y@3٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041054.063165 s, next control iter: 1743041054.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041054.463165 s.X!K~J,𤝇,A"J*J2J:J4?BJ4?nJ=5vJAfffffl@A^Yl@AZ~? A<A,#&"AA`oNA"AZAbAjArAzAAARv0f%@A<[%0frALz@AN<A=A<AxjA%ަA򶸼*A99?2Aֽ:A =BA99?JAֽRA =YH@{;y8=c<ٓH=@?(ɿ /V@⑳Ӊ??)H@ I٘i)I9Lz@YWG JSB=JG<JJJF&Kw> YBX~?y+ҧ0NA;iF7~9)qB[[S_@[Y~?[[[[[BZYY i)  $E;I$E?i?Ib5< Y))Y.@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041054.483165 s, next control iter: 1743041054.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14553, header.stamp.nsec: 00 temperature: 13.384850* salinity: 33.391693, density: 1025.000000* values[0]: 0.706478F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041054.883165 s.y!K~,@,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066601< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743041054.883286F (some fields omitted in printout)A(l@Al@AZ~? AA##&"AA oNA"AZAbAjArAzAAAd$@ArfrA[y@A)U<A=g=A#:AJbA*lAC!*Ag9?2A/ֽ:A̡ =BAg9?JA/ֽRA̡ =٘i)I9y@YG JC=JJJJF&K YX~?yӧMAjFb779)vBrE[[`@[X~?[X[[[[BZYY i) !# ;I4E?iE?p=< ))qW@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041054.903165 s, next control iter: 1743041055.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041055.303165 s.S!K~,jgӇ,AJ"J*J2J:JBJnJvJAl@AGl@AZ~? AA#&"AAmoNA"AZAbAjArAzAAA-1,$@AmfrAy@AZ5<A=Al9A WAhA*A9?2ADֽ:A&=BA9?JADֽRA&=٘i)I9y@YG JJJJJF&K YX~?yէ^MAlFb79DB){BoE[[a@[X~?[P[[[[BZYY i) 8:IBEE?i?AMG< /*))/*O@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041055.323165 s, next control iter: 1743041055.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14554., header.stamp.nsec: 0.0 temperature: 13.385159.* salinity: 33.391689., density: 1025.000000.* values[0]: 0.705300.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041055.723165 s. !K~,0I,AAzm@A8+l@AZ~? An AE#&"AAFoNA"AZAbAjArAzAAA#@A SjgrAx@ADZW;AG=A8AJA ֶAǛ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9x@Y@G JJJJJF&K YUX~?yקLAmF777R9)BlE[[f=c@[FX~?[i[[[[BZYY i) j݈9IVE?i?Q< [u))[u@yYU̪YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743041055.743165 s, next control iter: 1743041056.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041056.143165 s.V/"K~,* ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066601< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743041056.143277F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=m@ARh0m@AZ~? A} AL"&"AAmoNA"AZAbAjArAzAAAe"@AX#-hrA!w@Az̻Au=A6A :A[AX*A9?2A-ֽ:A+<BA9?JA-ֽRA+<٘i)I9w@YG JB=JJJJF&K YX~?yP٧LAnF{79)BiE[['d@[X~?[[[[[BZYY i) j+IiE?i ?e]< '))'_@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041056.163165 s, next control iter: 1743041056.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041056.563165 s."K~,R $,AA3333sm@A+fm@AgrZ~? A A"&"AAhnNA"AZAbAjArAzAAAmGJW"@AphrAmw@A{LA=Ah5A`(A{A̪*A9?2A ׽:Ag<BA9?JA ׽RAg<٘i)I9mw@YG J6C=JJJJF&K Y gX~?yۧ"LApFb779)BfE[[e@[\X~?[[[[[BZYY i) nͺI2}E?i?0]j< ))@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041056.583165 s, next control iter: 1743041056.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14555, header.stamp.nsec: 00 temperature: 13.385405* salinity: 33.391697, density: 1025.000000* values[0]: 0.704246F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041056.983165 s."K~,>,AJ"J*J2J:JBJnJvJA\m@A^9m@AXZ~? A A"&"AAnNA"AZAbAjArAzAAA|uh!@A熅irAv@A:BHAꌍ=A4A`A@ A *A|9?2A$ֽ:Ag|<BA|9?JA$ֽRAg|<٘i)I9v@YHG J˛JJJJF&K YgKX~?yܧKAqF779)BcE[[Jg@[X~?[e[[[[BZYY i) "I E?i?,x< )) @ êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041057.003165 s, next control iter: 1743041057.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041057.403165 s.&"K~,Y,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066601< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743041057.403293F (some fields omitted in printout)AQm@A qm@AA?Z~? AA,"&"AAnNA"AZAbAjArAzAAAР!!@ATbjrAiv@AAӋ=A2A ^A|¿AH*A9?2AŰֽ:A <BA9?JAŰֽRA <٘i)I9iv@YG JoJJJJF&K Y/X~?yާPKArFZ7Z7}9)B`E[[WMh@[5oX~?[[[[[BZYY i) >^I!E?i|?< ))←H@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041057.423165 s, next control iter: 1743041057.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14556", header.stamp.nsec: 0"0 temperature: 13.385668"* salinity: 33.391678", density: 1025.000000"* values[0]: 0.703291"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041057.823165 s."K~,ht,AJ"J*J2J:J 4?BJ 4?nJ<5vJAGzn@A'jinn@A%Z~? A\A"&"AAnNA"AZAbAjArAzAAA w @A(krA.u@A ;Av<=Ao1AAĿA*A9?2A$gֽ:A4<BA9?JA$gֽRA4<٘i)I9u@YG JZJJJJF&K YX~?yvJAtF)7)7H9)B[[ވi@[YX~?[[[[[BZYY i) ?|IE?i?r< å))å쿩j@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041057.843165 s, next control iter: 1743041058.223185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743041058.243165 s.#"K~,d,AAףp=Jn@A)1=n@A Z~? A;Ae"&"AA]nNA"AZAbAjArAzAAA~{H@AblrA,hu@A=T<<A=AN0A A$ƿAF*A-9?2A?ֽ:A~<BA-9?JA?ֽRA~<٘i)I9hu@Y\G JJJJJF&K YzW~?y?~JAuF{7j79)B]E[[j@[DX~?[A [[[[BZYY i) !~IgE?i?< ?6))?6꿩K@YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041058.263165 s, next control iter: 1743041058.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041058.663165 s.*"K~,q,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: -0.066601< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743041058.663318F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14557, header.stamp.nsec: 00 temperature: 13.385903* salinity: 33.391655, density: 1025.000000* values[0]: 0.702331F (some fields omitted in printout)An@AKrn@AXY~? AAA?"&"AAf7nNA"AZAbAjArAzAAAݬ@A +m#nrAdt@AKR<A=A/AѨAȿAxR*A9?2A%Qֽ:A<BA9?JA%QֽRA YW~?y#JA.vFŧ7b7ݐ9)BZE[[rl@[o/X~?[<[[[[BZYY i0) mʻIE?i?f< ))翩4$@5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041058.683165 s, next control iter: 1743041059.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041059.083165 s.D1"K~,Sň,AA)\µn@AQ,n@ALY~? AqA"&"AASnNA"AZAbAjArAzAAA9%z@AxorA lt@A-L;AĬ=A4-AA_ʿAא*A9?2A ֽ:A<BA9?JA ֽRA<٘i)I9lt@YG J JJJJF&K YW~?y=IAxF)7ŧ79)BWE[[mFm@[VX~?[S[[[[BZYY i) I F?i?s< *))*忩2ŏ@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041059.123165 s, next control iter: 1743041059.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041059.503165 s.7"K~,]4,AJ"J*J2J:J3?BJ3?nJg<5vJARn@Ayn@AfY~? AA!&"AAxmNA"AZAbAjArAzAAA@GL@A*prAs@A7AR'=AV,AcA@T8̿A*A"9?2A.ֽ:Aȅ<BA"9?JA.ֽRAȅ<٘i)I9s@Y{G JqJJJJF&K YW~?ymIAyF{7{7r9)BTE[[hn@[X~?[[[[[BZYY i) NI&F?i ?< ))⿩/e@dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041059.523165 s, next control iter: 1743041059.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14558, header.stamp.nsec: 00 temperature: 13.386162* salinity: 33.391644, density: 1025.000000* values[0]: 0.701421F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041059.923165 s.;>"K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743041059.923285F (some fields omitted in printout)A{G!o@A =o@AY~? AIA!&"AAmNA"AZAbAjArAzAAA"!@A; 2nrrAs@A"~'A'=A+Ah=AοAs|*Az9?2A׽:AQR<BAz9?JA׽RAQR<٘i)I9s@Y7G J„JJJJF&K YW~?y:IAzF777=9)BUE[[1o@[SW~?[[[[[BZYY i) IBF?i@$< /))/࿩@ySYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041059.943165 s, next control iter: 1743041060.323182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743041060.343165 s. Y%^W~?y[HAq(}F777ҙ9)BOE[[+>r@[W~?[$[[[[BZYY i) T&3I_F?i@,< ';ۿ)) ';ۿA@]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041060.783165 s, next control iter: 1743041061.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041061.183165 s.R"K~,kK,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743041061.183275F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\o@A;o@A_Y~? A#A!&"AAVmNA"AZAbAjArAzAAAOO@AHHwrAa7r@Ap1A6=A4}'A'ATҿA*A6}:?2A2½:AΌ=BA6}:?JA2½RAΌ=٘i)I97r@YkG JJJJJF&K Y}EW~?yQGA~Fŧ7b79)BLE[[{s@[8W~?[W)[[[[BZYY i) BI}F?i# @< ;ٿ))Oؿߒ@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041061.203165 s, next control iter: 1743041061.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041061.603165 s.84Y"K~,f,AAQo@A&Eo@AGY~? A&A &"AA2mNA"AZAbAjArAzAAA걌 @AA{yrAq@A<Ag=A&AA@OҿA*Ak:?2A½:A< =BAk:?JA½RA< =٘i)I9q@Y G J<JJJJF&K Y,W~?yGAF{7j7h9)BIE[[,t@[4W~?[.[[[[BZYY i) =RImF?i@ԋ< 'Kֿ))'Kֿ}@ǪY,AJ"J*J2J:J2?BJ2?nJ;5vJAp@Adp@AXY~? A1An &"AAlNA"AZAbAjArAzAAA}?'@AdrA4.p@A^e;A~=AR#A(A߭ԿA+*A:?2A*˽:A =BA:?JA*˽RA =Y`@N#yA=f;ٓH@M Z?bo]ף--Ϋl??)`@ II٘i)I9.p@Y.G JޡJ‰<JJJF&KC> YV~?y~FAN#Fj7j7Ȣ9)BCE[[^x@[slW~?[<[[[[BZYY i) IkF?i@\< 3ο))3οNQ@ ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041062.883165 s, next control iter: 1743041063.263176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041063.283165 s.5Rt"K~,҉,AA(\p@AB]Pp@AX~? A4AM&"AAlNA"AZAbAjArAzAAA4> @A.FrA9o@AA=A?!A AwտA*A~:?2Aν:A;=BA~:?JAνRA;=٘i)I9o@YG JJJJJF&K YV~?yFAF7791B)BAE[[y@[ZW~?[A[[[[BZYY i) 2I8G?i'@d(< ̿))̿@E֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041063.303165 s, next control iter: 1743041063.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14562., header.stamp.nsec: 0.0 temperature: 13.387024.* salinity: 33.391636., density: 1025.000000.* values[0]: 0.697940.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041063.703165 s.Ӻz"K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743041063.703272F (some fields omitted in printout)J"J*J2J:JBJnJvJAQq@Akp@AX~? Ag8A{&"AA~lNA"AZAbAjArAzAAA3(.@As4rAo@AE[[{@[8W~?[;L[[[[BZYY i) ״IWeG?i!%@]< ǿ))ǿ @uܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041064.143165 s, next control iter: 1743041064.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041064.543165 s.I"K~,",AJ"J*J2J:JBJnJvJA= ףpq@A]ؚcq@A\X~? AU@A&"AAc9lNA"AZAbAjArAzAAAåFGz @A rAm@ADZAS=AAKA׿A*Aa:?2A_:ӽ:A*=BAa:?JA_:ӽRA*=٘i)I9m@YG J2B=JJJJF&K Y3V~?y!DAF77{79)B;E[[.}@[(W~?[Q[[[[BZYY id峽) @I؉G?i)@k:< o[ſ))o[ſ@!ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041064.563165 s, next control iter: 1743041064.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14563, header.stamp.nsec: 00 temperature: 13.387278* salinity: 33.391613, density: 1025.000000* values[0]: 0.696935F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041064.963165 s.{"K~,=,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087840< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743041064.963286F (some fields omitted in printout)Affffq@A[q@AX~? ADA&"AAElNA"AZAbAjArAzAAAy @ArA Y|pV~?yP'tDAF)7b79)ƯB[[a~@[W~?[V[[[[BZYY i) IG?i,@< ¿))¿R@3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041064.983165 s, next control iter: 1743041065.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041065.383165 s.ؕ"K~,'X,AJ"J*J2J:JBJnJvJA(q@AW\q@AwX~? AHAW&"AAkNA"AZAbAjArAzAAAkzl&b @AJ;8rAl@AQ3<A==ArAA2wٿA'*AIL:?2AԽ:A=BAIL:?JAԽRA=٘i)I9l@YG J乼JJJJF&K YZV~?y,DAFj7j790B)ʯB8E[[ @[W~?[p\[[[[BZYY i) IG?i/@< g))g@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041065.423165 s, next control iter: 1743041065.783175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14564", header.stamp.nsec: 0"0 temperature: 13.387544"* salinity: 33.391609", density: 1025.000000"* values[0]: 0.695887"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041065.803165 s.tA"K~,ogs,AAr@AS%r@AbX~? ABMA&"AAFkNA"AZAbAjArAzAAA^L>@Q@AQrA`*l@A|K<A =A!AyAAڿAd*A@:?2AEս:Ah=BA@:?JAEսRAh=٘i)I9*l@YG JJJJJF&K YEV~?y2CAF77S91B)ϯB6E[[0b@[V~?[a[[[[BZYY i) xIEG?iJ3@}< .)).+@y ˳YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041065.843165 s, next control iter: 1743041066.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743041066.223165 s.g"K~,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: -0.087840< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743041066.223289F (some fields omitted in printout)AzGr@APp:r@ALX~? AQA&"AAnkNA"AZAbAjArAzAAAj&G@AaKrAk@A߰;A$=AA`CA ۿA!*A5:?2Aֽ:A%=BA5:?JAֽRA%=٘i)I9k@YZG J˾JJJJF&K YW/V~?y-8*CAFj7j790B)ԯB3E[[e@[V~?[g[[[[BZYY i) {໼I"H?iE7@4< ѻ))ѻ`@LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041066.243165 s, next control iter: 1743041066.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041066.643165 s.wЩ"K~, *,AA ףp}r@AOepr@Ac7X~? AVAO&"AAkNA"AZAbAjArAzAAAgOrE@Aa (rA~j@A#ȺAnQ=AjA AۿA'*A*:?2Aֽ:A-=BA*:?JAֽRA-=٘i)I9j@YG J.JJJJF&K YV~?y=BAF)7b79)ٯB[[}@[@V~?[>m[[[[BZYY i) HüIKH?i;@)-< y))yx@cYFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14565, header.stamp.nsec: 00 temperature: 13.387827* salinity: 33.391602F, density: 1025.000000* values[0]: 0.694754F (some fields omitted in printout)F]:Waiting for Gazebo time sync: latest Gz time: 1743041066.663165 s, next control iter: 1743041067.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041067.063165 s."K~,c Ċ,AJ"J*J2J:J1?BJ1?nJ:5vJA3333r@A8b-r@A"X~? Ag[A&"AA(skNA"AZAbAjArAzAAAQK@A4쑙rAHj@A~LA ܭ=A A@A0ܿA>O*A:?2Aw+׽:An=BA:?JAw+׽RAn=Y'm@ny٭=ٓHM? ֪`=@4] u<|?)'m@ I٘i)I9Hj@YG J}B=JC?<JJJF&K{> YV~?yDGBAFŧ779)ޯB0E[[8'@[V~?[ s[[[[BZYY i) ԎʼIsH?i5>@Lx< ))3I@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041067.103165 s, next control iter: 1743041067.463180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743041067.483165 s.y_"K~,ފ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087840< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743041067.483279F (some fields omitted in printout)A\r@Agr@A X~? Ab`A&"AASkNA"AZAbAjArAzAAAc?A;rAǥi@AdNA=AAaA mYݿA%ļ*A:?2AtS׽:Av=BA:?JAtS׽RAv=٘i)I9i@Y3G JC=JJJJF&K Y'U~?y^JAAF7777}9)B[[@[,V~?[x[[[[BZYY i) ѼIvH?i,A@fC< ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041067.503165 s, next control iter: 1743041067.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14566, header.stamp.nsec: 00 temperature: 13.388116* salinity: 33.391609, density: 1025.000000* values[0]: 0.693627F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041067.903165 s.Ƚ"K~,,AJ"J*J2J:JBJnJvJAQs@AӁs@AW~? A~eA/&"AA4kNA"AZAbAjArAzAAAL6$?AޘrAh@A?AO=ApA\A`޿Aʼ*Ax :?2AP-׽:AU=BAx :?JAP-׽RAU=٘i)I9h@Y G JƼJJJJF&K YlU~?yP^AAFb77H9)B.E[[6T@[òV~?[~[[[[BZYY i) ټIH?iD@J< f))f1v@JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041067.923165 s, next control iter: 1743041068.303182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743041068.323165 s.t"K~,,AAGzTs@A؀qGs@AW~? AjA&"AAukNA"AZAbAjArAzAAAƊW?A{rAQh@A"A-͵=A-AA@޿AӼ*A:?2Aֽ:Aq=BA:?JAֽRAq=٘i)I9Qh@Yd G JμJJJJF&K YU~?yV@AF779)B*E[[o@[ƥV~?[[[[[BZYY i) ^IH?iDH@+= ))j @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041068.343165 s, next control iter: 1743041068.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14567*, header.stamp.nsec: 0*0 temperature: 13.388380** salinity: 33.391579*, density: 1025.000000** values[0]: 0.692409*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041068.743165 s.!W"K~,/,AJ"J*J2JvPublished command to Gazebo (printed only once in a while)::JBJ( dropWeightState: 1nJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087840< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743041068.743309F (some fields omitted in printout)Aףp=s@A9'0}s@A]W~? ApA_c&"AAjNA"AZAbAjArAzAAANef?Aq1rAg@A<A@=AArA߿Aۼ*A9?2Aֽ:A !=BA9?JAֽRA !=٘i)I9g@Y G J`׼JJJJF&K YU~?y:]t@AF)7ŧ7ݻ9)B[[}@[:V~?[[[[[ZZ¸BZYY i¸=) lԼII?icL@I= ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041068.783165 s, next control iter: 1743041069.143188 s, wait time: 0.360023 s rAdjusting time to match Gazebo time: 1743041069.163165 s.t}"K~,qJ,AAs@Ag{s@A2W~? AuA&"AA>jNA"AZAbAjArAzAAA>uF\?A&rAf@AM<A+s=AA A=AӍ*AB9?2A܅ֽ:A?Q"=BAB9?JA܅ֽRA?Q"=Yet@0yio=ݲN<ٓH@M?a`n`%? ?)et@ I٘i)I9f@Y G J޼J\<JJJF&KIy> YcU~?yd?AFSI7879/B)B'E[[:@[V~?[[[[[ZZBZYY i) SȼIiN@N= j))j55@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041069.183165 s, next control iter: 1743041069.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041069.583165 s."K~,Se,AJ"J*J2J:JBJnJvJA)\s@A-`s@AfW~? A'{AǍ&"AAujNA"AZAbAjArAzAAAh3~i?Ae:rAQf@Aæ*<AP=A RAA@oAW*A9?2Ahֽ:Ac=BA9?JAhֽRAc=٘i)I9f@Y G JJJJJF&K YӓU~?yj{?AFj7j7s9)B[[4@[V~?[ޖ[[[[ZZBZYY i) 9IiuQ@ = ))/ʞ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041069.623165 s, next control iter: 1743041069.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14568, header.stamp.nsec: 00 temperature: 13.388702* salinity: 33.391556, density: 1025.000000* values[0]: 0.691126F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041070.003165 s.| "K~,]4,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082558< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743041070.003283F (some fields omitted in printout)AR+t@AwNyt@AW~? A܀A&"AA=jNA"AZAbAjArAzAAAn?A2T \orA`,e@AL-;A+=A A8pA@Ah*A:?2Alֽ:Aꄿ<BA:?JAlֽRAꄿ<٘i)I9,e@Yz G JB=JJJJF&K Y@U~?yq>AF7S7>90B)B%E[[<@[~uV~?[ [[[[ZZBZYY i) *IiT@4 = wŦ))wŦ}^@yu=dتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041070.043165 s, next control iter: 1743041070.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743041070.423165 s.u"K~,,AJ"J*J2J:JBJnJvJA{Gat@A ;Tt@AW~? AA&"AAjNA"AZAbAjArAzAAAF2?A$prAxRd@A޻A3|=A A@iA`AS*A:?2A,"׽:A]dk<BA:?JA,"׽RA]dk<٘i)I9Rd@Y G JC=JJJJF&K YpU~?yx>AF{7{79) B[[φ@[njV~?[9[[[[ZZBZYY i) IiX@}H = ?x))?x@YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743041070.443165 s, next control iter: 1743041070.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14569, header.stamp.nsec: 00 temperature: 13.389091* salinity: 33.391560, density: 1025.000000* values[0]: 0.689552F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041070.843165 s."K~,,AAp= t@Apt@ALvW~? AAA<&"AAkjNA"AZAbAjArAzAAA]PH?AyrAuc@A(TAWI8=AP A {߿AnA{Ѽ*A:?2A׽:Aܼ;BA:?JA׽RAܼ;٘i)I9c@Y G JJJJJF&K Y"_U~?y>AF7779/B)B"E[[Fb@[_V~?[p[[[[ZZBZYY iJ=) H헼Ii[@ = g.))g.A@BYFFF]l:Waiting for Gazebo time sync: latest Gz time: 1743041070.863165 s, next control iter: 1743041071.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041071.263165 s."K~,Ћ,AJ"J*J2J:JW0?BJW0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.091357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743041071.263314F (some fields omitted in printout)At@AUm7t@A eW~? AAH&"AAQjNA"AZAbAjArAzAAA6_Ac]NrAb@A OAz<A A`3޿AAs*A:?2A`׽:ASBA:?JA`׽RASY{@ y<OٓH AF?}6r@ `1E嚜7@&?){@ I٘i)I9b@Y G J¼B=JJJJF&Kx> YOU~?y =A F)7ŧ79)BE[[@[[UV~?[̯[[[[ZZBZYY ia=) Ii ^@m= ܟ))ܟ@"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041071.283165 s, next control iter: 1743041071.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 145702, header.stamp.nsec: 020 temperature: 13.3894072* salinity: 33.3915482, density: 1025.0000002* values[0]: 0.6881972F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041071.683165 s.l"K~,ع,AA(\u@Aut@A/TW~? A՘A*P&"AA-7jNA"AZAbAjArAzAAAOPҿA68rA`gb@A|ĻAe5<AAA`޿A@MAn*A:?2Aֽ:ABA:?JAֽRA٘i)I9gb@Y G JC=JJJJF&K Y@U~?yx=A EFj7SI7h9)B[[~@[XKV~?[/[[[[ZZBZYY i) /,Ii`@޲= ))y@nYFFF]m:Waiting for Gazebo time sync: latest Gz time: 1743041071.683165 s, next control iter: 1743041072.083205 s, wait time: 0.400040 s rAdjusting time to match Gazebo time: 1743041072.103165 s.J "J *J 2J :J 0?BJ 0?nJ 85vJ #K~,Ú,AAQ8u@AL F+u@ACW~? AA&"AAjNA"AZAbAjArAzAAA\G޿ARs8rA}b@Ac;A/ƛAlAKݿA_A1?*A?:?2A׽:ArBA?:?JA׽RAr٘i)I9b@Y G J,pJJJJF&K YG1U~?y啨=AF7b7390B) B E[[@[AV~?[[[[[ZZBZYY i Ԣ=) qIifc@f= @))@?@yz=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041072.143165 s, next control iter: 1743041072.503182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743041072.523165 s.#K~,{!,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.079506< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743041072.523297F (some fields omitted in printout)AHznu@A au@A3W~? AwA[&"AAEjNA"AZAbAjArAzAAA˂ܫSA1^rAӿa@A_*1<AMA!AܿAAC*A9?2A)׽:A矼BA9?JA)׽RA矼٘i)I9a@Yd G JJJJJ F&K Y!U~?ySl=AFb79/B)!BE[[@[8V~?[ è[[[[ZZBZYY i) \Iif@[= ;)); Ң@y8=)YFFF]Waiting for Gazebo time sync: latest Gz time: 1743041072.543165 s, next control iter: 1743041072.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14571, header.stamp.nsec: 00 temperature: 13.389619* salinity: 33.391563, density: 1025.000000* values[0]: 0.687396F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041072.943165 s.]d#K~,W]<,AJ"J*J2J:J/?BJ/?nJ85vJAq= ףu@A3mʖu@A$W~? AAY&"AACiNA"AZAbAjArAzAAAOsC>AqͧrAa@A1G<AAZA EۿA A(*Aa9?2A"׽:AżBAa9?JA"׽RAż٘i)I9a@YO G JOJJJJ F&K YU~?yF=AF779)"B[[A@[/V~?[{ɨ[[[[ZZBZYY i) XHIiHj@*= ))c@ye0=4+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041072.963165 s, next control iter: 1743041073.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041073.363165 s.#K~,u>W,AAu@A72u@AW~? AA"_&"AAiNA"AZAbAjArAzAAAA|L\rAa@Aa6;A^/A A`ڿA ;A1O;*A9?2Apֽ:ABA9?JApֽRAYZȀ@y]/k;ٓHܿ`??r`,ܿ%??F|? L?)ZȀ@ I٘i)I9a@YM G JnJz,JJJ F&Kw> YU~?y=AF77j79)E[[VԊ@[X'V~?[Ш[[[[BZYY iOMi=) 77Ii l@)= 'f))'fQ@Mk*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041073.383165 s, next control iter: 1743041073.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14572&, header.stamp.nsec: 0&0 temperature: 13.389668&* salinity: 33.391537&, density: 1025.000000&* values[0]: 0.687162&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041073.783165 s.T#K~,r,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056958< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743041073.783263F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\v@Aw~Qv@A'W~? A*A&"AA.iNA"AZAbAjArAzAAAAe]KAtrAa@AifAWAN>A@6ڿAAv:;*A-9?2Aݘֽ:ABA-9?JAݘֽRA٘i)I9a@Y] G J0;JJJJF&K Y%T~?y}=AF)7)7^90B)E[[f@[JV~?[֨[[[[BZYY i=) Z&IiZn@Ћ= 7))7@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041073.823165 s, next control iter: 1743041074.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743041074.203165 s.##K~,,AAQEv@A+ٱ8v@AV~? A꿩A4[&"AAiNA"AZAbAjArAzAAAH>!A-rAa@Aq)A$xAiA`+lٿA$A]8<*Ag9?2A3Xֽ:A BAg9?JA3XֽRA ٘i)I9a@Y G JI<JJJJF&K Y^T~?yZ=AF77(9/B) BE[[&@[V~?[0ݨ[[[[BZYY i) €Iip@6= ֏))֏!@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041074.223165 s, next control iter: 1743041074.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041074.623165 s.Y)#K~,e⧌,AJ"J*J2J:J0?BJ0?nJ85vJAGzv@Amv@AV~? AƩA&"AAiNA"AZAbAjArAzAAA:<}AamrAxHb@A|WAAH^AƝؿAA k<*A9?2ASֽ:A"BA9?JASֽRA"٘i)I9Hb@Y G JQ<JJJJF&K YT~?y9Ĩ1>AF9)B[[@[hV~?[[[[[BZYY i) Iis@m=  )) @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041074.643165 s, next control iter: 1743041075.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14573 , header.stamp.nsec: 0 0 temperature: 13.389627 * salinity: 33.391518 , density: 1025.000000 * values[0]: 0.687509 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041075.043165 s.0#K~,Œ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066410< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743041075.043296F (some fields omitted in printout)A= ףv@A4v@AV~? AͩAGP&"AAiNA"AZAbAjArAzAAAs[p-.ASrA b@A,AuA<A@ ׿AAA1<*A9?2Aֽ:AIBA9?JAֽRAI٘i)I9b@Y G J}<JJJJF&K YT~?y̨l>AF)7b79)B[[T@[ V~?[c[[[[BZYY i) ZIiMw@E= /R))/RO;@y (=1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041075.063165 s, next control iter: 1743041075.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041075.463165 s.\7#K~,݌,AJ"J*J2J:J0?BJ0?nJ85vJAffffv@Ah[v@AV~? AԩAK&"AAjiNA"AZAbAjArAzAAAA ɚrA*c@A8[չA3A AiֿAnAO<*A9?2Aֽ:ABA9?JAֽRAY @y2YչٓH@ֿ@y?@d?ֿ?`в?g:?) @ I٘i)I9*c@YA G J<JJJJF&KOx> YT~?yOԨ>AF77790B)BE[[\@[V~?[[[[[BZYY i) 9ɻIix@BE= ))W̦@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041075.503165 s, next control iter: 1743041075.863184 s, wait time: 0.360019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14574, header.stamp.nsec: 00 temperature: 13.389452* salinity: 33.391495, density: 1025.000000* values[0]: 0.688318F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041075.883165 s.y=#K~,8,AA(w@A w@AV~? A۩A>&"AAWiNA"AZAbAjArAzAAA&:}AqArAac@A <A隽AWA`ֿA`ǺAzC<*A9?2A:׽:A:BA9?JA:׽RA:٘i)I9c@Y G J<JJJJF&K YT~?yܨ7?AFŧ77S9)B[[:@[U~?[[[[[BZYY i) 䪻Iiz@ = ˆ))ˆ\@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041075.903165 s, next control iter: 1743041076.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041076.303165 s.ZD#K~,g,AJ"J*J2J:JW0?BJW0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066410< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743041076.303324F (some fields omitted in printout)AQw@ACDw@A V~? AA&"AA EiNA"AZAbAjArAzAAA9$A;NrA2d@A S<AИADA?տAA<*AN9?2AK׽:A BAN9?JAK׽RA ٘i)I92d@Y G J<JJJJF&K YhT~?y?AF7779)B[[ˎ@[NU~?[v[[[[BZYY i) Ii}@!= ))@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041076.323165 s, next control iter: 1743041076.703180 s, wait time: 0.380015 s"hT~?)".tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14575., header.stamp.nsec: 0.0 temperature: 13.389250.* salinity: 33.391487., density: 1025.000000.* values[0]: 0.689359.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041076.723165 s.K#K~,H.,AAzw@A]zw@AV~? A1A&&"AA)3iNA"AZAbAjArAzAAAP<A[rAd@A+<AힽAA dԿA)Aa<*A\9?2Af׽:A,e BA\9?JAf׽RA,e ٘i)I9d@Y8 G JD<JJJJF&K YFT~?y@AFS7S79/B) BE[[Z@[U~?[*[[[[BZYY i) o\Ii@ #= L))L|@t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041076.743165 s, next control iter: 1743041077.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041077.143165 s.Q/R#K~,)I,AJ"J*J2J:JBJnJvJA ףpw@A0ew@AmV~? AAΘ&"AA!iNA"AZAbAjArAzAAArHA1rAmSe@A (;AAA@!ӿAG]A<*A9?2AWֽ:A BA9?JAWֽRA ٘i)I9Se@Y G J<JJJJF&K Y%T~?y-f@AFj7Z79.B)BE[[s@[U~?[ [[[[BZYY i) Iim@%= ))n @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041077.183165 s, next control iter: 1743041077.543174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743041077.563165 s.X#K~,c d,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066410< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743041077.563285F (some fields omitted in printout)A3333w@AXc'w@AԕV~? AA` &"AAiNA"AZAbAjArAzAAA7rQIAr#rAe@A ۻAAAҿAA*<*AU9?2Anֽ:A BAU9?JAnֽRA YL@ykۻٓHп q?@ O? 5@xп֗?@? ua{q?)L@ I٘i)I9e@Y G J<J( JJJF&K>x> YT~?y@AFŧ77~9)B[[=y@[U~?[[[[[BZYY i) AǺIi@|y&= {)){8@c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041077.583165 s, next control iter: 1743041077.963181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14576, header.stamp.nsec: 00 temperature: 13.389005* salinity: 33.391460, density: 1025.000000* values[0]: 0.690537F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041077.983165 s._#K~,~,AJ"J*J2J:JBJnJvJA\(x@Ax@AV~? AUAx&"AAiNA"AZAbAjArAzAAAkW)?Aa1>rAf@AcKAAvAFѿAAP<*A9?2Aeֽ:A~ BA9?JAeֽRA~ ٘i)I9f@YM G J<JJJJF&K YZT~?y*:AAF77I9)B[[@[lU~?[i[[[[BZYY i) . Ii@D'= )w)))w*@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041078.023165 s, next control iter: 1743041078.383183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743041078.403165 s.&f#K~,͙,AAQ^x@AV)Qx@AV~? AA&"AAhNA"AZAbAjArAzAAA5q(Aʟ)sAl"g@A=A=kAA 0пA(A1<*A9?2Aֽ:ABA9?JAֽRA٘i)I9"g@Y G Jj<JJJJF&K YT~?yAAF7779-B)BE[[@[U~?[1 [[[[BZYY i) 9Ii@R(= er))er@/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041078.443165 s, next control iter: 1743041078.803181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14577, header.stamp.nsec: 0"0 temperature: 13.388743"* salinity: 33.391449", density: 1025.000000"* values[0]: 0.691785"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041078.823165 s.J "J *J 2J :J 1?BJ 1?nJ 95l#K~vJ,G,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066410< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743041078.823288F (some fields omitted in printout)AGzx@A| qx@AxV~? AiAS&"AAhNA"AZAbAjArAzAAA ]Q#AkrsAIg@A㐘AuA7A~пAAr}<*A(9?2Aֽ:ABA(9?JAֽRAI٘i)I9g@Y G J<JJJJF&K YT~?y(BAF)7b79)BE[[5&@[IU~?[&[[[[BZYY i) So:Ii@ YvT~?yX(BAݿF7t9)B[[C@[U~?[4[[[[BZYY i) H;Ii@,= Ve))Ved@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041079.683165 s, next control iter: 1743041080.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041080.083165 s.D#K~,S,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066410< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743041080.083334F (some fields omitted in printout)A)\5y@AʧǶ(y@A`V~? Ar&AX &"AAdhNA"AZAbAjArAzAAA ~ U AǐFsAXi@AL<AA=ۿACʿA੊A <*A'9?2A?׽:ABA'9?JA?׽RA٘i)I9Xi@YG JG<C=JJJJ"F&K YqT~?y1;CAF777>9)BE[[oѓ@[tU~?[_;[[[[BZYY i) ;Ii@J-= `))`j@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041080.103165 s, next control iter: 1743041080.483184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743041080.503165 s.#K~,;4 ,AJ"J*J2J:JBJnJvJARky@Atx^y@A|YV~? A9.A &"AA5hNA"AZAbAjArAzAAAxUW ANAsAi@AV;AÌA0ؿAȿA`A6<*A9?2Aֽ:A}BA9?JAֽRA}٘i)I9i@YTG J.<JJJJ#F&K YcmT~?y9CAFj7Z7 9,B)ݯBE[[_@[U~?[/B[[[[BZYY i) ;Iik@.= Er\))Er\@׿*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743041080.523165 s, next control iter: 1743041080.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14579, header.stamp.nsec: 00 temperature: 13.388243* salinity: 33.391411, density: 1025.000000* values[0]: 0.694126F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041080.923165 s.7#K~,;,AA{Gy@Al@y@ARV~? A 6Ac &"AAʨhNA"AZAbAjArAzAAAhN ANsA\j@AP%AA(ֿAƿAAÚ<*A9?2Aֽ:AhBA9?JAֽRAh٘i)I9\j@YG Jx<B=JJJJ%F&K YhT~?yhBCAF7779)ٯB[[m@[#U~?[H[[[[BZYY i0=) @\;Iis@/= X))Xh@`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041080.943165 s, next control iter: 1743041081.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041081.343165 s.<#K~,U,AJ"J*J2J:J1?BJ1?nJx:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075444< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743041081.343285F (some fields omitted in printout)Ap= y@Aty@ALV~? A=A &"AA$hNA"AZAbAjArAzAAA遀4 A#sA|j@AF+A4AӿA^ſA@A<<*A9?2AƂֽ:ABA9?JAƂֽRA٘i)I9j@YG J<C=JJJJ&F&K Y5dT~?yK_DAFb779)կB[[z@[ U~?[O[[[[BZYY i) ";Ii@}1=  S)) S@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041081.363165 s, next control iter: 1743041081.743178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14580*, header.stamp.nsec: 0*0 temperature: 13.388021** salinity: 33.391388*, density: 1025.000000** values[0]: 0.695201*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041081.763165 s.6#K~,p,AA z@Any@A:GV~? AEA0 &"AADhNA"AZAbAjArAzAAAr A>~(sA ^k@AsRAꇽAѿA&$ÿA@AL<*A9?2Aֽ:AnBA9?JAֽRAnYэ@пy燽VSٓH`Ys?Y? گZ?@?[J?)э@ I٘i)I9^k@Y?G J<J&,<JJJ'F&KRx> YybT~?ySDAпF7i9)ѯBE[[@[WU~?[V[[[[BZYY i) ;Ii@1= e*O))e*O*@)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041081.783165 s, next control iter: 1743041082.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041082.183165 s.J ˢ#K~"J*J2J,k,A:Jb?BJb?nJ5vJA(\Bz@A/e5z@A+BV~? AMAa &"AA-hNA"AZAbAjArAzAAA6 A|-sA{k@Ap AA/bοA %BA`A?<*A9?2A@ֽ:AmBA9?JA@ֽRAm٘i)I9k@YG JВ<B=JJJJ)F&K Y`T~?y\EAFŧ7b749)ͯB[[e@[U~?[m][[[[BZYY i)  elevatorAngleAction: 0.075444< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743041082.603283F (some fields omitted in printout)AQxz@A_ Dkz@A=V~? AUAC &"AAhNA"AZAbAjArAzAAAt; AնX2sAfPl@A&9A$A˿A`A-A݊<*A9?2A5׽:A4BA9?JA5׽RA4٘i)I9Pl@YG J<C=JJJJ*F&K Y_T~?yweqEAFb779)ɯB[[ǿ[U~?[;d[[[[BZYY i) /.,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075444< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743041083.863282F (some fields omitted in printout)J"J*J2J:JBJnJvJA{@Ax {@A73V~? AmA&&"AAuhNA"AZAbAjArAzAAA FU AAsAmm@A#<AAÿA`aCA@]A<*A9?2Aj׽:A\BA9?JAj׽RA\Y#@ÿyű(-$<ٓHަ?@?:`???x??)#@ I٘i)I9m@YG J+<B=JxܻJJJ.F&K Y\T~?yFAÿFb77^9)B[[W[qU~?[x[[[[BZYY i) tL elevatorAngleAction: 0.084346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743041085.123294F (some fields omitted in printout)AG{@A>s֭{@A-V~? AㅪA/O&"AAkhNA"AZAbAjArAzAAA3jtI+A@tOsA!o@ANA EA/AIA`wAgT<*A9?2A`ֽ:A- BA9?JA`ֽRA- ٘i)I9!o@YG J<C=JJJJ2F&K  9Y`T~? 9y@GAF779)B[[x[/U~?[ӌ[[[[BZYY i) z YAeT~?yījHAٶF77T9)B[[[U~?[9[[[[BZYY i) S elevatorAngleAction: 0.084346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743041086.383341F (some fields omitted in printout)A(\|@Ad O|@A,V~? AAv&"AAihNA"AZAbAjArAzAAA: BAغێ^sAyp@Af;AϾAa0A?AyAr<*A9?2Ad$׽:A+BA9?JAd$׽RA+٘i)I9p@YG Jk<C=JJJJ6F&K YBiT~?yzHAF79)BE[[q⳿[>U~?[砩[[[[BZYY i) H elevatorAngleAction: 0.084346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743041087.643287F (some fields omitted in printout)A ףp|@Aiai|@Aq0V~? APAi&"AAmhNA"AZAbAjArAzAAA'[r AtTSmsATr@A|;A A:^A0?A#eA߰<*A9?2Auֽ:ABA9?JAuֽRA٘i)I9Tr@Y}G J<B=JJJJ:F&K YEuT~?yΩJAF77 9)B[[/O[U~?[Ǵ[[[[BZYY i) q Y|T~?y(שvJAөF7I9.B)BE[[[hU~?[Y[[[[BZYY i) H elevatorAngleAction: 0.084346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743041088.903286F (some fields omitted in printout)AQ}@A6}@A9V~? AbΪA&"AA\yhNA"AZAbAjArAzAAA'd A(|sA3t@AOQAAA"^?A(;Ai<*A9?2A:ֽ:AIBA9?JA:ֽRAI٘i)I93t@YG J<B=JJJJ>F&K YT~?y;YKAF{7j79)B[[?['U~?[iȩ[[[[BZYY i) " elevatorAngleAction: 0.084346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743041090.163281F (some fields omitted in printout)A@~@A0H2~@ALFV~? A>A%"AA4hNA"AZAbAjArAzAAAn*% AWPsA1v@A<AMAA5?A`A<*Aϙ9?2A ׽:AƚBAϙ9?JA ׽RAƚY-ښ@sʜyIf<ٓH?D?%?v ?/????)-ښ@ I٘i)I91v@YG J<B=J[#JJJBF&K;x> YT~?yLAʜF77?9)~B[[-[V~?[۩[[[[BZYY i)  elevatorAngleAction: 0.093562< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743041091.423256F (some fields omitted in printout)A{G~@A|?5~@AGXV~? AA'%"AA-hNA"AZAbAjArAzAAArK AyssA;x@AT:A촽AA rp?A̤A<*A9?2A8ֽ:ALBA9?JA8ֽRAL٘i)I9;x@YG J<JJJJFF&K YT~?yeNAF779)oB[[-[%V~?[[[[[ZZZZ¸>BZYY i¸>Ө) I Y`T~?y*OAƏF77774 92B)dB$E[[-?[$6V~?[6[[[[ZZZZBZYY i) TV~?[a[[[[ZZZZBZYY i) _,AAY@A -L@AѓV~? A3Ac%"AAhNA"AZAbAjArAzAAA~˷yAR>}sAN}@AV<A AYłAɀ?AAh{<*Aٵ9?2Acֽ:A<BAٵ9?JAcֽRAJJJPF&KQw> YU~?yQPAɂF77*)95B)JB,E[[=K[dV~?[[[[[ZZZZBZYY id)  ))> > e)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041094.403165 s, next control iter: 1743041094.763177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14593", header.stamp.nsec: 0"0 temperature: 13.567454"* salinity: 33.375031", density: 1025.000000"* values[0]: 0.580863"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041094.783165 s.Yk$K~,,AJ"J*J2J:JBJnJvJA(\@A~T@AMV~? Ay:A%"AA iNA"AZAbAjArAzAAAgi{AsA}@AK;A;A-Aa?A [Aq1<*Aٯ9?2Auֽ:Aư<BAٯ9?JAuֽRAư<I٘i)I9}@YdG J\<C=JJJJQF&K Y!U~?ybYPAF777*9)HB[[w[SoV~?[[[[[ZZZZBZYY i[I) }{iNA"AZAbAjArAzAAArPqAvsA}@A1_Aϡ<A{A A?A(A;*A99?2Aֽ:A[<BA99?JAֽRA[<٘i)I9}@YG J<JJJJRF&K Y0U~?y`QAFj7j7,96B)GB/E[[兿[ zV~?[p%[[[[ZZZZBZYY i) gW[Y@A V~? AMWA}K%"AALRiNA"AZAbAjArAzAAA=AsA}@AFA:V=AzkA?AAjֻ*A\9?2AΏֽ:AS<BA\9?JAΏֽRAS?mc?ê@{~`?)B@ I٘i)I9}@YG JLJO>JJJVF&Kw> Y6_U~?yvPAkFb77298B)HB3E[[w~[(V~?[6[[[[BZYY i/e) w/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041096.903165 s, next control iter: 1743041097.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041097.303165 s.V$K~,wgS,AJ"J*J2J:JBJnJvJAс@A]Pā@A4V~? AAeAT9%"AA.yiNA"AZAbAjArAzAAA)B&AmDsAX}@A*<AՇ=A\aA@n?AjAo*A9?2Avս:A3 =BA9?JAvսRA3 =٘i)I9X}@Y2G J[LJJJJYF&K YuU~?yFPAFj7Z759)NB[[u[}V~?[B[[[[BZYY i ) 8ֽ:A=BA9?JA>ֽRA=٘i)I9n|@YG JDJJJJ\F&K YU~?y OAFSI7SI7I99:B)WB:E[[l[V~?[M[[[[BZYY i) 3;IiՍ@5= ))y݆̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041098.163165 s, next control iter: 1743041098.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041098.563165 s.$K~,A ,AA3333s@AP)f@AW~? AyAk%"AAiNA"AZAbAjArAzAAAL`ALd}sA{@A94*:AO=AQA [?AL?AH*A9?2Aֽ:A7 =BA9?JAֽRA7 =Y~ۧ@UQyO=*:ٓH(?]? b?L`W?}FE?Z?)~ۧ@ I٘i)I9{@YRG J^J3W=JJJ]F&Kw> YU~?yyPOAQF77j7;9;B)\B=E[[Sh[SV~?[bR[[[[BZYY i) .پ;IiȌ@@34= ))ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041098.583165 s, next control iter: 1743041098.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14597, header.stamp.nsec: 00 temperature: 13.567379* salinity: 33.375061, density: 1025.000000* values[0]: 0.580688F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041098.983165 s.$K~,쾒,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799J@ elevatorAngleAction: -0.065450"J< massPositionAction: 0.000000*J2J4 buoyancyAction: 0.000500:JBJnJ dt: 0.419991vJ2 time: 1743041098.983276F (some fields omitted in printout)A\@A'雂@A W~? AA(%"AAiNA"AZAbAjArAzAAAo>qAyzsAa{@A A3=A)LA?A@AYѣ*Ar9?2Aֽ:Aw; =BAr9?JAֽRAw; =٘i)I9a{@YG JlJJJJ^F&K YKU~?y柪NAF{7{7<9)`B[[!d[V~?[W[[[[BZYY i) ՛;Ii@83= ؽ))ؽؽ1ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041099.023165 s, next control iter: 1743041099.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041099.403165 s.&$K~,ْ,AAQނ@Ag т@Aa0W~? AAs%"AAEiNA"AZAbAjArAzAAAУAd*qusAz@AYA=AFAf?AdAڦ*Ai9?2A׽:A=BAi9?JA׽RA=٘i)I9z@YG JoJJJJ`F&K YU~?yTNAF77>9B)pBDE[[V[hW~?[Eg[[[[BZYY i)  ;Iii@E*1= @}\))@}\@}\ ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041100.263165 s, next control iter: 1743041100.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041100.663165 s.$K~,q*,AJ"J*J2J:JZ?BJZ?nJ5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14599, header.stamp.nsec: 00 temperature: 13.567789* salinity: 33.375061, density: 1025.000000* values[0]: 0.579508F (some fields omitted in printout)A@A/r@AkaW~? AmAp6%"AA/jNA"AZAbAjArAzAAAbֿAsA#y@A;AGK=AU7A X?AAI*A׶9?2ADֽ:A(=BA׶9?JADֽRA(=Y@~7yjJ=;ٓH@??@n? @Z?@ B{?-?)@ I٘i)I9#y@YG J]C=JϷJJJdF&K"x> YvV~?yQMA~7F77{7 D9)uBGE[[ nR["W~?[Il[[[[BZYY i) i:Ii1@N/= ))ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041100.683165 s, next control iter: 1743041101.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041101.083165 s.D$K~,"SE,AA)\µ@AA@ArW~? A~AȾ%"AA;IjNA"AZAbAjArAzAAA5L/+?A"=sAVx@AP<A=A2A`S?A@6zA|t*A9?2A+ֽ:As=BA9?JA+ֽRAs=٘i)I9x@YGG J챼JJJJeF&K Y.V~?yLAF777E9)zB[[M["1W~?[>q[[[[BZYY i) 89Ii(@H.= ))ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041101.103165 s, next control iter: 1743041101.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041101.503165 s.$K~,j4`,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065450< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743041101.503309F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@AA|ރ@AW~? AtA6I%"AAcjNA"AZAbAjArAzAAAYu^W?AԬKsA{w@A F<A$=AK-AW?A7(A O*A9?2AQֽ:AJ4=BA9?JAQֽRAJ4=٘i)I9w@YG JJJJJfF&K Y DV~?yĪLAFG9?B)BJE[[I[|@W~?[!v[[[[BZYY i) 5&IiO@j2-= ))ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041101.523165 s, next control iter: 1743041101.903184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14600, header.stamp.nsec: 00 temperature: 13.567989* salinity: 33.375080, density: 1025.000000* values[0]: 0.578848F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041101.923165 s.;$K~,{,AA{G!@A66;@A W~? ANA%"AA\~jNA"AZAbAjArAzAAA1#x?AgޤtAgkw@Ar;A7=Aa'A]?AA를*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9kw@YG JaJJJJhF&K YSYV~?yQʪLAF7)7jI9@B)BME[[E[$PW~?[z[[[[BZYY i)  YV~?y/ժZKAoF777L9BB)BRE[[2<[:pW~?[P[[[[BZYY i) `Iiʄ@)= M=))M=M=пYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041102.783165 s, next control iter: 1743041103.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041103.183165 s.$K~,k˓,AJ"J*J2J:JBJnJvJA(\„@A^@A!W~? A'A%"AAojNA"AZAbAjArAzAAA%f?AnO & tAMu@A1^TAL=AA_?A` ߿A6(*A9?2A׽:A<BA9?JA׽RA<٘i)I9u@YG J!JJJJlF&K YœV~?yCڪJAFj7Z7N9)BUE[[7[W~?[߈[[[[BZYY i) @Ii@r(= `=))`=`=8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041103.203165 s, next control iter: 1743041103.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041103.603165 s.64$K~,,AAQ@A+MF@AW~? AA%"AAjNA"AZAbAjArAzAAA#J?AӇmtA$lu@AA3=AA?A@޿A *A9?2Aֽ:A]<BA9?JAֽRA]<٘i)I9lu@Y_G J:JJJJmF&K YճV~?yXߪJAF7777P9CB)BXE[[D3[rW~?[[[[[[BZYY i) 4Ii@('= ^=))^=^=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041103.623165 s, next control iter: 1743041104.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14602 , header.stamp.nsec: 0 0 temperature: 13.568316 * salinity: 33.375099 , density: 1025.000000 * values[0]: 0.577720 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041104.023165 s.Z%K~,{,AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074469< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743041104.023308F (some fields omitted in printout)AHz.@AT !@ARW~? AƫA%"AA? kNA"AZAbAjArAzAAAX~ ?AEtAt@A;A=Aa A@=?A&޿A*A9?2AŁֽ:A[<BA9?JAŁֽRA[<٘i)I9t@YG JJJJJoF&K YV~?ymBJAFb77_R9)B[[.[W~?[Ñ[[[[BZYY i) /ͻIiŁ@&= F=))F=F=yqoYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041104.063165 s, next control iter: 1743041104.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743041104.443165 s.8%K~,B],AAq= c@A@V@Al X~? A˫AQ%"AAo+kNA"AZAbAjArAzAAAx"߶?ABѠtAzt@A.<Ag=AA K?A`kݿA*A9?2ALֽ:A =BA9?JALֽRA =٘i)I9zt@YG JpJJJJpF&K YV~?yIAF77{7*T9)B[E[[G*[߳W~?[[[[[BZYY i) ,Ii#@L%=  B=)) B= B=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041104.463165 s, next control iter: 1743041104.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14603, header.stamp.nsec: 00 temperature: 13.568455* salinity: 33.375107, density: 1025.000000* values[0]: 0.577207F (some fields omitted in printout)V~?) rAdjusting time to match Gazebo time: 1743041104.863165 s.+ %K~,>7,AJ"J*J2J:J?BJ?nJ5vJA@Afk}@AX~? AЫA%"AA JkNA"AZAbAjArAzAAA=@AtAFt@AZ<AG=AA?APܿAv*A9?2AOֽ:AB=BA9?JAOֽRAB=Y@ byC=v[<ٓH?Rx?̀?-Z߿@`? Ϧ3%^??)@ I٘i)I9t@YG JB=JJJJqF&Kw> YV~?yIAb F777U9DB)B^E[[#%[[W~?[H[[[[BZYY i) Ii7@V#=  >)) > >YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041104.903165 s, next control iter: 1743041105.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743041105.283165 s.8R%K~,R,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074469< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743041105.283291F (some fields omitted in printout)A(\υ@AP…@A2X~? AիA %"AAPikNA"AZAbAjArAzAAAsW@A)tA1s@Ad,<A[N=AlA?AۿAhl*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9s@Y7G JlC=JJJJsF&K Y3W~?y(,IA F7W9FB)BbE[[R![#W~?[g[[[[BZYY i) Ii|@.!= >))>>iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041105.303165 s, next control iter: 1743041105.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14604., header.stamp.nsec: 0.0 temperature: 13.568591.* salinity: 33.375118., density: 1025.000000.* values[0]: 0.576701.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041105.703165 s.ֺ%K~,m,AJ"J*J2J:J?BJ?nJ5vJAQ@A;@AGX~? AګA0%"AAkNA"AZAbAjArAzAAA˻m@AHtA s@A򄛷A%=AA`G)?A] ۿA0獼*A9?2A{ֽ:A=BA9?JA{ֽRA=٘i)I9 s@YG JBJJJJtF&K Y+W~?y{HA F77Y9)B[[_[=W~?[q[[[[BZYY i) j$Ii6z@" = 0>))0>0>?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041105.723165 s, next control iter: 1743041106.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041106.123165 s.7!%K~,]⇔,AAG:@Ac#-@A]X~? A߫A%"AA$kNA"AZAbAjArAzAAAfGS@A?!}"tAUr@A]EA`=A9(A`o?A`TڿA_*A9?2A ׽:A7=BA9?JA ׽RA7=٘i)I9r@YG JJJJJuF&K YlDW~?ytHAF777U[9)BeE[[J[W~?[e[[[[BZYY i) (4IiEx@= C>))C>C>ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041106.143165 s, next control iter: 1743041106.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041106.543165 s.I(%K~,â,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074469< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199052 time: 1743041106.543274F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@Aoc@ArX~? AA:|%"AAkNA"AZAbAjArAzAAA~Bh@A4Y6%tA1!r@AYAg=AܾA?AٿA*A?9?2A*׽:Ak=BA?9?JA*׽RAk=٘i)I9!r@Y]G JJJJJwF&K Y]W~?y!HAF)7)7]9GB)BhE[[?[IX~?[B[[[[BZYY i) MCIiv@C= p:U>))p:U>p:U>QŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041106.563165 s, next control iter: 1743041106.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14605, header.stamp.nsec: 00 temperature: 13.568718* salinity: 33.375114, density: 1025.000000* values[0]: 0.576200F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041106.963165 s.~.%K~, ,AAffff@Ah[@AX~? AAL&%"AAkNA"AZAbAjArAzAAAVs @A|'tAĨq@A,A=A~EҾA?A XؿAk6*A9?2Aֽ:A=BA9?JAֽRA=YL@˧Ҿyw=X -ٓH gA?Ì?ຽ?@ڇٿdV?W*-?)L@ I٘i)I9q@YG JUJ<JJJxF&Kx> YvW~?yGAҾFZ7Z7^9)BkE[[@[!X~?[[[[[BZYY i) gRIi[s@ݿ= 0))00CȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041107.003165 s, next control iter: 1743041107.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743041107.383165 s.5%K~,4ؔ,AJ"J*J2J:Js?BJs?nJ5vJA(܆@Ayφ@AX~? AA%"AAL lNA"AZAbAjArAzAAA[&M @A))PUy>PUy>˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041107.403165 s, next control iter: 1743041107.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14606", header.stamp.nsec: 0"0 temperature: 13.568836"* salinity: 33.375153", density: 1025.000000"* values[0]: 0.575733"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041107.803165 s.zA<%K~,g,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743041107.803293F (some fields omitted in printout)A@A@AwX~? A#A%"AA1.lNA"AZAbAjArAzAAAh R?S9@AA',tAOp@A;AE=AA o?AY׿A*A9?2AQֽ:AL =BA9?JAQֽRAL =٘i)I9p@YxG J7JJJJ{F&K YW~?y FAF)7ŧ7b9)¯B[[.[cGX~?[0[[[[BZYY i) qIim@-= @…>))@…>@…>fͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041107.843165 s, next control iter: 1743041108.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743041108.223165 s.gC%K~,H,AJ"J*J2J:JQ?BJQ?nJy5vJAzG@AL:@A))>>ϪYFFF]q:Waiting for Gazebo time sync: latest Gz time: 1743041108.243165 s, next control iter: 1743041108.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041108.643165 s.vI%K~,*),AA ףp}@A"dp@A@X~? AA%"AA(slNA"AZAbAjArAzAAA R@A?|1tAao@A@(B<A=AlA%?AbjտAG{*A:9?2AXֽ:A6=BA:9?JAXֽRA6=٘i)I9o@YG JJJJJ}F&K YvW~?y/FAFj7Z7f9JB)ͯBuE[[m[nX~?[[[[[BZYY i) Iii@“= I >))I >I >yoҪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743041108.663165 s, next control iter: 1743041109.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14607, header.stamp.nsec: 00 temperature: 13.568970* salinity: 33.375141, density: 1025.000000* values[0]: 0.575193F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041109.063165 s.P%K~,[ D,AJ"J*J2J:J??BJ??nJf5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743041109.063328F (some fields omitted in printout)A3333@A *@AX~? AjA%"AA5lNA"AZAbAjArAzAAAgH@Ar&3tA+ o@AH;AS=A]A ?A@ԿAz*A9?2Aֽ:A3=BA9?JAֽRA3=Y4$@KyoS=;ٓHc? ̅??!rӿ@yy?@`e r?]?)4$@ I٘i)I9 o@Y~G J}B=JA:<JJJF&Kx> Y\W~?ylEAF77g9)үBxE[[[X~?[=[[[[BZYY i) 矏Iif@rA= >))>>ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041109.083165 s, next control iter: 1743041109.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041109.483165 s.y_W%K~,^,AA\@AMۇ@AY~? AAz\%"AAlNA"AZAbAjArAzAAA\Y@A+w5tAn@AHA8=A瓾A`M?AಭӿA*A(9?2A׽:A=BA(9?JA׽RA=٘i)I9n@Y*G JC=JJJJF&K Y>X~?y^EAFŧ7b7i9KB)ׯB{E[[[X~?[^ª[[[[BZYY i) $Iib@-= @>))@>@>$٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041109.523165 s, next control iter: 1743041109.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14608, header.stamp.nsec: 00 temperature: 13.569147* salinity: 33.375134, density: 1025.000000* values[0]: 0.574605F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041109.903165 s.]%K~,y,AJ"J*J2J:JBJnJvJAQ@A%@A)Y~? A1A2%"AA_lNA"AZAbAjArAzAAA)Cg@A$7tA@m@ALEAlҠ=A4A?AҿAw*A9?2A)׽:A=BA9?JA)׽RA=٘i)I9m@YG J3JJJJF&K Y"/X~?yDAF777uk9)ۯB[[ ޾[dX~?[gŪ[[[[BZYY i) שIi_@V= n>))n>n>ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041109.923165 s, next control iter: 1743041110.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041110.323165 s.vd%K~,%,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743041110.323323F (some fields omitted in printout)AGzT@A½2oG@AAY~? AZA%"AAtmNA"AZAbAjArAzAAA)fp@@AM-9tAjm@A OAӣ=Aˆ}A M?AѿA*A9?2A ׽:A^~=BA9?JA ׽RA^~=٘i)I9jm@YG JJJJJF&K YJX~?yxDAF?m9)B~E[[xվ[X~?[VȪ[[[[BZYY i)  /Iiz]@ = ɦ>))ɦ>ɦ>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041110.343165 s, next control iter: 1743041110.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14609*, header.stamp.nsec: 0*0 temperature: 13.569286** salinity: 33.375164*, density: 1025.000000** values[0]: 0.574046*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041110.743165 s.Wk%K~,q,AJ"J*J2J:J?BJ?nJ5vJAףp=@Aa1}@AYY~? A]A%"AA%mNA"AZAbAjArAzAAA3 e@AfLA;tAl@AUջA=Am8iA@?AѿA*Aq9?2Aֽ:AR=BAq9?JAֽRAR=I٘i)I9l@Y%G J JJJJF&K YdX~?y&&DAFb77 o9)BE[[}7̾[X~?[)˪[[[[BZYY i) EIi`[@tf = 9>))9>9>&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041110.763165 s, next control iter: 1743041111.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041111.163165 s.x}r%K~,qʕ,AA@AY@ArY~? A8 Ae%"AAJmNA"AZAbAjArAzAAAtFO@Anh=tAQ=l@AZG;AUF=A4UA ?A%пAü*AI9?2AUֽ:A=BAI9?JAUֽRA=Y1e@Ty"F=H;ٓH"4?`eu? ?@Vʿ` O?`6" Ah??)1e@ I٘i)I9=l@YG JJՄ<JJJF&Kw> YX~?yCATF77p9)BE[[ þ[X~?[ͪ[[[[BZYY i)  IiW@ = >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041111.183165 s, next control iter: 1743041111.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041111.583165 s.x%K~, S,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743041111.583275F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\@Aӹ@AY~? A A.%"AAomNA"AZAbAjArAzAAAY@ANsd?tAk@A4<AQ=AAA .?A οAļ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9k@YeG JdJJJJF&K Y#X~?y!BCAFb77r9)BE[[ӹ[=X~?[lЪ[[[[BZYY i) z_IiS@= )L>)))L>)L>|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041111.603165 s, next control iter: 1743041111.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14610, header.stamp.nsec: 00 temperature: 13.569451* salinity: 33.375187, density: 1025.000000* values[0]: 0.573448F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041112.003165 s.z %K~,U4,AAR+@Ax@A8Y~? AzA$%"AAmNA"AZAbAjArAzAAAe @A @tAj@A-X<AѬ=Ag,AT?A̿A2ɼ*A@9?2Aֽ:AX=BA@9?JAֽRAX=٘i)I9j@YG J ǼJJJJF&K YX~?y#BA!FZ7SI7jt9LB)BE[[ [Y~?[Ҫ[[[[BZYY i) dzüIiP@D= >))>>YFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743041112.023165 s, next control iter: 1743041112.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743041112.423165 s.u%K~,,AJ"J*J2J:J?BJ?nJ5vJA{Ga@A ;T@A Y~? AA%"AA8mNA"AZAbAjArAzAAA僠 @A"3@BtAJj@AY <A=A;#A@+x?AʿA^ʼ*A99?2A;cֽ:A=BA99?JA;cֽRA=٘i)I9Jj@YG JʼJJJJF&K YYX~?yj%_BA"F{7{75v9)BE[[;[p*Y~?[Cժ[[[[BZYY i) J ˼Ii&N@= 1>))1>1>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041112.443165 s, next control iter: 1743041112.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14611, header.stamp.nsec: 00 temperature: 13.569644* salinity: 33.375195, density: 1025.000000* values[0]: 0.572727F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041112.843165 s.݌%K~,5,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743041112.843296F (some fields omitted in printout)Ap= @AT2@AY~? AA]%"AAmNA"AZAbAjArAzAAA+dl;@AE`qCtAi@Ak2ArǮ=AzA+?AɿA[ɼ*Ac9?2Aֽ:A1=BAc9?JAֽRA1=٘i)I9i@Y0G JʼB=JJJJF&K YX~?y;'AA#F77j7x9)B[[ݝ[h@Y~?[ת[[[[BZYY i2) _ҼIiK@o= A>))A>A>HYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041112.883165 s, next control iter: 1743041113.243180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743041113.263165 s.%K~,P,AJ"J*J2J:JBJnJvJẢ@A~@A Y~? A/A$s%"AAnNA"AZAbAjArAzAAAxl@A(DtAh@AAu=Aɹ׽A@?A'ǿA{cȼ*A9?2AW ׽:A=BA9?JAW ׽RA=Y1@eٽym=ٓH?`'?@7?@!:?P:? p?)1@ I٘i)I9h@Y G J ɼC=J;JJJF&KHx> Y Y~?y*(xAAeٽ%Fŧ7b7y9)BE[[%[CVY~?[٪[[[[BZYY i) +ټIiG@n< >))€>>wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041113.283165 s, next control iter: 1743041113.663174 s, wait time: 0.380009 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 146122, header.stamp.nsec: 020 temperature: 13.5698392* salinity: 33.3751982, density: 1025.0000002* values[0]: 0.5720452F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041113.683165 s.l%K~,^k,AA(\@A@A_Z~? AA L%"AA ,nNA"AZAbAjArAzAAAz=@AgYEtApPh@A0ZA=AdAI?AHſAbXǼ*A9?2Aw׽:A/l=BA9?JAw׽RA/l=٘i)I9Ph@Yd G JǼJJJJF&K Y'Y~?y)AA&FSI7SI7{9) BE[[E[dlY~?[۪[[[[BZYY i) IiC@#< m?)) m?m?:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041113.683165 s, next control iter: 1743041114.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743041114.103165 s.%K~,,AJ"J*J2J:JZ?BJZ?nJv5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092284< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200582 time: 1743041114.103326F (some fields omitted in printout)AQ8@AVD+@A Z~? AA!(%"AAcRnNA"AZAbAjArAzAAAԘΌ!i @A.FtA̧g@A&A.=A儽A?A@WdÿA|˼*A9?2Aս:A=BA9?JAսRA=٘i)I9g@Y G JȼJJJJF&K YCY~?y*@A'Fj7Z7`}9)BE[[ま[ÂY~?[|ݪ[[[[ZZ¸BZYY i¸h=) ԼIi@@< L?))L?L?yoGYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041114.123165 s, next control iter: 1743041114.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743041114.523165 s.%K~,{,AAHzn@As a@A7:Z~? ArAM%"AAxnNA"AZAbAjArAzAAA-Y!@Aq@/GtAf@A\պA֩=A ;AU?A@A!Ҽ*A9?2Aս:A=BA9?JAսRA=٘i)I9f@Y G J@μJJJJF&K Y*_Y~?y*@A)F77*9)BE[[p[`Y~?[>ߪ[[[[ZZBZYY i) ȼIi=@<  ?)) ? ?y輽YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041114.543165 s, next control iter: 1743041114.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14613, header.stamp.nsec: 00 temperature: 13.570035* salinity: 33.375221, density: 1025.000000* values[0]: 0.571330F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041114.943165 s.Yd%K~,F],AJ"J*J2J:JB?BJB?nJ]5vJAq= ף@A{ʖ@ASZ~? AA%"AAnNA"AZAbAjArAzAAAK9!@AeҰHtA`4f@A;A=AA׼AE?AC|Aw*A9?2ATZս:ANM=BA9?JATZսRANM=٘i)I94f@Y G JJJJJF&K Y7{Y~?y+?A*F779)BE[[][1Y~?[[[[[ZZBZYY i) Ii;@A< n?))n?n?yx=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041114.963165 s, next control iter: 1743041115.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041115.363165 s.%K~,>ז,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082720< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743041115.363290F (some fields omitted in printout)Aي@Aq̊@AkmZ~? A)A%"AAZnNA"AZAbAjArAzAAǍ:"@AymItAHUe@AS<Ax=A[ԻA`,?A@LǻA]*A9?2A!oս:Aw<BA9?JA!oսRAw YsY~?y+8?A+F7S79)!BE[[#K[Y~?[^[[[[ZZBZYY i) "FIi6@< F?))~F?F?yɧ= ֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041115.383165 s, next control iter: 1743041115.763178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14614*, header.stamp.nsec: 0*0 temperature: 13.570277** salinity: 33.375214*, density: 1025.000000** values[0]: 0.570499*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041115.783165 s.Z%K~,,AJ"J*J2J:JBJnJvJA(\@A:$P@A"Z~? AH AJ%"AACnNA"AZAbAjArAzAAAE"@A$CJtA{d@AR5<A#]y=Ad<A@=?A`z A*A9?2Aս:A\}<BA9?JAսRA\}<٘i)I9{d@Y G JJJJJF&K YY~?y+>A-Fj7Z79)(BE[[78[Y~?[[[[[ZZBZYY i) Ii2@ < ?)) ??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041115.803165 s, next control iter: 1743041116.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041116.203165 s.%K~,  ,AAQE@A֪]8@AZ~? Amr#@Aq?JtAmc@A*H;A5=A! =AO?A@m/AѼ*A<9?2AԽ:Ae;BA<9?JAԽRAe;٘i)I9c@Y G JMJJJJF&K YY~?y ,i>A.F7777U9).B[[+%[Y~?[[[[[ZZBZYY i) 發Ii]/@3w< ?))??~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041116.243165 s, next control iter: 1743041116.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743041116.623165 s.V%K~,X',AJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJ( dropWeightState: 1vJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082720< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743041116.623278F (some fields omitted in printout)AGz@A2om@AɺZ~? A"A%"AAq;oNA"AZAbAjArAzAAA1;$@AG(TKtAc@A2AZ#<A^=A@>\?AA7 *Ay9?2AԽ:A׺BAy9?JAԽRA׺٘i)I9c@Y5 G JJJJ]FJF&K Y%Y~?y,>A/Fj7SI7 9KB)3BE[[[` Z~?[[[[[ZZBZYY i) <9Ii<,@u< 0$?))0$?0$?Yw&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041116.643165 s, next control iter: 1743041117.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14615 , header.stamp.nsec: 0 0 temperature: 13.570540 * salinity: 33.375240 , density: 1025.000000 * values[0]: 0.569591 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041117.043165 s.̨%K~,B,AA= ף@A@AZ~? A"A%"AAboNA"AZAbAjArAzAAAڶ^Y$@A!9KtA>b@A]A(<A=Af?AxA{*AN9?2A;ս:ABAN9?JA;սRA٘i)I9b@Y G JJJJJF&K YdZ~?y",=A1Fŧ7b79RB)=BE[[}[#Z~?[[[[[ZZBZYY i) Ii)@< 8`)?))8`)?8`)?~YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743041117.083165 s, next control iter: 1743041117.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743041117.463165 s.J "J *J 2J :J ?BJ ?nJ 5vJ b%K~,],AAffff@Ag\ً@AZ~? A##Ax%"AAoNA"AZAbAjArAzAAAN<I%@Aӭ+LtA;b@AZAٱA3=An?AA:,*A9?2AJս:AɁBA9?JAJսRAɁY@:=yձZٓH.?@9/M{j4??1?`:v?+^%?)@ I٘i)I9;b@Y G JJZJEJJJF&KZt> Y$Z~?yM+=A=2F{7{79)@BE[[H׽[_;Z~?[[[[[ZZBZYY i {=) %rIi %@L@< &.?))V{&.?&.?(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041117.503165 s, next control iter: 1743041117.863182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14616, header.stamp.nsec: 00 temperature: 13.570682* salinity: 33.375256, density: 1025.000000* values[0]: 0.569038F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041117.883165 s.y%K~, elevatorAngleAction: 0.061505< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743041117.883272F (some fields omitted in printout)A(@A$F@A[~? Ar#Ap%"AAToNA"AZAbAjArAzAAAA%@A`{1LtA:b@AһAcA]q=At?A_ꔿA'ǻ*A/9?2Aս:ABA/9?JAսRA٘i)I9b@Y G J@ JJJJF&K Y@Z~?yw*=A3F)7ŧ79)BBE[[VŰ[SZ~?[[[[[ZZBZYY i =) 4<_Ii @ < 02?)) 02?02?B)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041117.903165 s, next control iter: 1743041118.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041118.303165 s.W%K~,{g,AJ"J*J2J:JBJnJvJAQ@Aw*D@A"[~? A#AA`x?AˉtA*A9?2AԽ:AǼBA9?JAԽRAǼ٘i)I9a@Y{ G J+JJJJF&K Y\Z~?y)=A5F777J9QB)E[[[jZ~?[4[[[[BZYY i) RLIiL@W< 7?))7?7? 0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041118.323165 s, next control iter: 1743041118.703179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14617., header.stamp.nsec: 0.0 temperature: 13.570676.* salinity: 33.375271., density: 1025.000000.* values[0]: 0.568839.F (some fields omitted in printout)2\Z~?)2) rAdjusting time to match Gazebo time: 1743041118.723165 s.%K~,H,AAz@Arz@A<[~? A#Aj%"AA&pNA"AZAbAjArAzAAAä1"'@AODLtAa@A =<A!0A >Ay?A?A$;*A9?2A ս:AMBA9?JA սRAMἙ٘i)I9a@Y} G Jr9JJJJF&K Y"yZ~?y(=A6F9)E[[E[Z~?[[[[[BZYY i) f9Ii@(<  elevatorAngleAction: 0.072284< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743041119.143333F (some fields omitted in printout)A ףp@Avh@AV[~? Ac#Al%"AA'pNA"AZAbAjArAzAAA%dc'@AG8k(LtAb@AW<AVA3>Av?A?A;*A&9?2A;Rս:Ah&BA&9?JA;RսRAh&٘i)I9b@Y G J;JJJJF&K YSZ~?y'=A7F779PB)@BE[[[!Z~?[[[[[BZYY i) z&Ii+@%< A?))A?A?\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041119.163165 s, next control iter: 1743041119.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041119.563165 s.%K~,V ,AA3333@A (@Ap[~? A #Aq%"AANpNA"AZAbAjArAzAAA^(@A^ KtAA@nq?Aң?AP'<*Aл9?2A`ս:ABAл9?JA`սRAYI@G>yyv$;ٓHPV? ȿ@e`Z?c?|@Ҿ??@?)I@ I٘i)I9 Y Z~?yA&>AG>9F77{79)>BE[[(([Z~?[[[[[BZYY ig=) Ii@$< 8oF?))&y8oF?8oF?z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041119.583165 s, next control iter: 1743041119.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14618, header.stamp.nsec: 00 temperature: 13.570518* salinity: 33.375301, density: 1025.000000* values[0]: 0.568971F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041119.983165 s.%K~,,AJ"J*J2J:JBJnJvJA\(@A=@A[~? A"Ay%"AA[vpNA"AZAbAjArAzAAA&{s(@AFKtAeb@AA,AAi?A` E?Aaa<*A\9?2AMս:A3#BA\9?JAMսRA3#٘i)I9b@Y G JB<JJJJF&K YZ~?y$d>A:Fb77u9) elevatorAngleAction: 0.056546< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743041120.403287F (some fields omitted in printout)AQ^@AilQ@A[~? A!A%"AApNA"AZAbAjArAzAAAv9)@Aa~yaA@a?Ae?A!<*AH9?2A_ӽ:A(bBAH9?JA_ӽRA(b٘i)I9b@Y# G Jw}<JJJJF&K YZ~?y">A;Fj7Z7@9OB)8BE[[h<[dZ~?[[[[[BZYY i) Ii @y< ";P?))";P?";P?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041120.423165 s, next control iter: 1743041120.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14619", header.stamp.nsec: 0"0 temperature: 13.570241"* salinity: 33.375298", density: 1025.000000"* values[0]: 0.569433"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041120.823165 s. &K~,64,AJ"J*J2J:JBJnJvJAGz@Ao@Ap[~? A !A[%"AApNA"AZAbAjArAzAAA?YPh5*@A^A}3JtAwc@AOpbAH@A>AV?A$"?Al6<*A9?2A'ӽ:A{BA9?JA'ӽRA{٘i)I9wc@Yp G JH<JJJJF&K Y;[~?y"! ?A=F{7{7 9)3BE[[A=[Z~?[[[[[BZYY i=) ͻIiJ@+< -U?))-U?-U?y#g=*Y/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041120.843165 s, next control iter: 1743041121.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041121.243165 s.&K~,`O,AAףp=ʍ@A5@AF[~? A Aפ%"AA+pNA"AZAbAjArAzAAAPsT*@A#\^!JtAId@A@ AAXk>A H?Aظ?A<*Ax9?2AgԽ:A[BAx9?JAgԽRA[٘i)I9d@Y G Jޥ<JJJJF&K Y[~?ym\?A>Fj7j7՛9NB).BùE[[J=[U[~?[8[[[[BZYY i) ⭻IiV@d< 'Z?))'Z?'Z?ycp=K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041121.263165 s, next control iter: 1743041121.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743041121.663165 s.&K~,qj,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: 0.065968< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743041121.663309F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14620, header.stamp.nsec: 00 temperature: 13.569901* salinity: 33.375309, density: 1025.000000* values[0]: 0.570118F (some fields omitted in printout)A@Aw@A [~? AAx%"AAHqNA"AZAbAjArAzAAA^n+@AVQqnItAd@A!U!AoA%>A/7?A`8?Aݱ<*AE9?2A?bս:Ax_ BAE9?JA?bսRAx_ Y=+>yo!ٓH@=?@Şҿ`? ?`וAI?*D?)= I٘i)I9d@Y G J<JfJJJF&Kt> Y:[~?y?A+>?F{79))BƹE[[=[,[~?[[[[[BZYY i) Ii]?n< l_?))cwl_?l_?yЇ=^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041121.683165 s, next control iter: 1743041122.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041122.083165 s.D!&K~,S,AA)\5@A<(@A \~? AAD%"AAH:qNA"AZAbAjArAzAAAFiPY ,@A1m*HtA`"e@A<ARVAi>A#?A0?A]Щ<*A9?2Aֽ:A+BA9?JAֽRA+٘i)I9"e@Yt G JŪ<JJJJF&K YU[~?yM+@AAFb77k9MB)$BɹE[[=[D[~?[[[[[BZYY i) AcIi? < d?))؅d?d?G*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041122.123165 s, next control iter: 1743041122.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041122.503165 s.'&K~,H4,AJ"J*J2J:JBJnJvJARk@AyJx^@AU%\~? A$AS%"AA(aqNA"AZAbAjArAzAAAAx㖥,@AٻGtAe@A|P`<AA7J>A?A }&?A_<*A:?2A Խ:ABA:?JA ԽRA٘i)I9e@Y G Jͩ<JJJJF&K Yp[~?y@ABF)7ŧ759)B̹E[[j=[b][~?[[[[[BZYY i) )'Ii-?< i?)) i?i?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041122.523165 s, next control iter: 1743041122.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14621, header.stamp.nsec: 00 temperature: 13.569500* salinity: 33.375328, density: 1025.000000* values[0]: 0.570879F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041122.923165 s.D.&K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065968< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743041122.923316F (some fields omitted in printout)A{G@AnB<@A>\~? AA %"AAqNA"AZAbAjArAzAAA6yA@-@AhFtA?f@A^%:<AxAI>A?A?A2<*A:?2ASԽ:ABA:?JASԽRA٘i)I9?f@Y" G J<JJJJF&K Y[~?y.@ACF779)B[[5>[u[~?[[[[[BZYY i)  |պIiQ?/< ( n?))( n?( n?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041122.943165 s, next control iter: 1743041123.323187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743041123.343165 s.<5&K~,՘,AJ"J*J2J:JBJnJvJAp= ׎@AɎ@A>X\~? AA+%"AA}qNA"AZAbAjArAzAAA"^G-@Ax۬ͤEtAHf@AG;A䖽A9>A?A?A8<*A:?2A|Խ:A BA:?JA|ԽRA ٘i)I9f@Yy G J<JJJJF&K Y[~?ybAAEF7ˤ9LB)BϹE[[,(>[[~?[[[[[BZYY i) w9IiK?XԐ< s?))s?s?*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743041123.363165 s, next control iter: 1743041123.743180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14622&, header.stamp.nsec: 0&0 temperature: 13.569115&* salinity: 33.375343&, density: 1025.000000&* values[0]: 0.571653&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041123.763165 s.:;&K~,,,AA @A]&@Aq\~? AAP%"AAqNA"AZAbAjArAzAAA=s.@A)uuDtA`g@ALA┽Ah6>AX?A?A <*Af :?2AԽ:AٛBAf :?JAԽRAٛYt4>w>yᔽŀٓHs?ؿ :ֱ@Ɩ?-?%?|+?)t4> I٘i)I9`g@Y G J<J;JJJF&KIt> Y[~?y:AAw>FF{7j79IB)BѹE[[=.<>[[~?[v[[[[BZYY i) e9Ii?̊< jx?))avjx?jx?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041123.783165 s, next control iter: 1743041124.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041124.183165 s.B&K~J"J*J2J,x ,A:Jp?BJp?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240812> elevatorAngleAction: 0.065968< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743041124.183271F (some fields omitted in printout)A(\B@A,σ5@A\~? AAPw%"AA$qNA"AZAbAjArAzAAA /@ARb-CtAcg@A|tWA#{Af>At?AZ?Ab<*Aa :?2A=&ս:ANBAa :?JA=&սRAN٘i)I9g@Y* G J<JJJJF&K Y![~?y *BAGF`9HB)BԹE[[[P>[l[~?[[[[[BZYY i) Rp:IiF?L< &}?))r&}?&}?*YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743041124.203165 s, next control iter: 1743041124.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041124.603165 s.94I&K~,&,AAQx@AkFk@A\~? AkA%"AA-!rNA"AZAbAjArAzAAA2ӣ/@Aō}AtAh@AGLAڏAy>A?AwA?AI<*A\':?2Aӽ:A}BA\':?JAӽRA}٘i)I9h@Y G J<JJJJF&K Y1[~?yrBAIF77+9GB)B׹E[[d>[[~?[O[[[[BZYY i) ;Ii?S< !?)) !?!?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041124.623165 s, next control iter: 1743041125.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14623 , header.stamp.nsec: 0 0 temperature: 13.568702 * salinity: 33.375366 , density: 1025.000000 * values[0]: 0.572409 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041125.023165 s.ZP&K~,{A,AJ"J*J2J:JBJnJvJAHz@A,@A\~? AAA%"AAGrNA"AZAbAjArAzAAA nI!S0@A_|I^R@tA i@AAmDA>A`+_?A@A?A ڠ<*Ax*:?2Ar[Խ:AmBAx*:?JAr[ԽRAm٘i)I9 i@Y G J8<JJJJF&K Y@\~?y BAJF{7{79)B[[e+y>[[~?[}ު[[[[BZYY i) D;Ii?Lw< Z?))Z?Z?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041125.043165 s, next control iter: 1743041125.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041125.443165 s.BV&K~,l]\,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065968< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201162 time: 1743041125.443396F (some fields omitted in printout)Aq= @AB֏@AJ\~? Ao A%"AAlrNA"AZAbAjArAzAAA-Bh0@A >tAi@A;AA>AR9?A?A<*A*:?2Aս:A8BA*:?JAսRA8٘i)I9i@Y'G J4<JJJJF&K YO)\~?yVCALFZ7SI79FB)BڹE[[>[) \~?[ܪ[[[[BZYY i)  ;Ii?Kp< @?))@?@?v*Y< YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743041125.463165 s, next control iter: 1743041125.843184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14624, header.stamp.nsec: 00 temperature: 13.568312* salinity: 33.375370, density: 1025.000000* values[0]: 0.573156F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041125.863165 s.+]&K~,>w,AJ"J*J2J:J?BJ?nJ5vJA@Aɍ @A\~? A AB3%"AArNA"AZAbAjArAzAAATFî0@Ag=tAkj@A@I<A2Al1>A?AtK?A<*A*:?2Aeս:ABA*:?JAeսRAY9>i>y^/fI<ٓH`?{޿ % ^?m"?ץ"?'?`?)9> I٘i)I9j@YsG Jf<J^<JJJF&KHt> Y)B\~?yyCA>MFj7j79)BݹE[[>[d!\~?[bڪ[[[[BZYY iЛ=) ;Ii ?c< ̈?)) bv̈?̈?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041125.883165 s, next control iter: 1743041126.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041126.283165 s.9Rd&K~,,AA(\O@AHPB@A4]~? AAi%"AArNA"AZAbAjArAzAAA܍0@A2V;tAqj@AAY<A߇AQ?A{?A}.?AX<*A(:?2Aֽ:A\BA(:?JAֽRA\񼙘٘i)I9j@YG J <JJJJF&K Y[\~?yHDANF77{7V9EB)BE[[[>[9\~?[ت[[[[BZYY i) ?;Iin?GX< ^?))k^?^?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041126.303165 s, next control iter: 1743041126.683180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14625., header.stamp.nsec: 0.0 temperature: 13.567954.* salinity: 33.375393., density: 1025.000000.* values[0]: 0.573846.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041126.703165 s.պj&K~, ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260589> elevatorAngleAction: 0.076081< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743041126.703280F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Ax@A`]~? AAY%"AArNA"AZAbAjArAzAAAzE1@A:l|9tAj@AF;A`A[R\~?[ժ[[[[BZYY i) };Ii?/N< &?)) &?&?#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041126.723165 s, next control iter: 1743041127.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041127.123165 s.9q&K~,eǙ,AAGẐ@AOխ@AZ6]~? AA%"AARsNA"AZAbAjArAzAAAmi1@A3P7tAsk@AAA-?Au?AV?A <*A;:?2A?Խ:ABA;:?JA?ԽRA٘i)I9sk@YMG J<JJJJF&K Y\~?yDAQF7779)B[[&>[Zj\~?[Ӫ[[[[BZYY i)  ;Ii?F< ?))??yν=&*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743041127.143165 s, next control iter: 1743041127.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041127.543165 s.Ix&K~,,AJ"J*J2J:J?BJ?nJ!5vJA= ף@A#@A!N]~? ALA,%"AA$sNA"AZAbAjArAzAAA1@A:ă5tA'k@A3AA*?A`Y?AZ?Aې<*A5:?2AyԽ:ABA5:?JAyԽRA٘i)I9k@YG J<B=JJJJF&K Y\~?y#EARF79@B)BE[[>[\~?[2Ъ[[[[BZYY i) f< 1?))1?1?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041127.563165 s, next control iter: 1743041127.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14626, header.stamp.nsec: 00 temperature: 13.567616* salinity: 33.375404, density: 1025.000000* values[0]: 0.574514F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041127.963165 s.{~&K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076081< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743041127.963295F (some fields omitted in printout)Affff&@Aj_@Ae]~? AASa%"AAiHsNA"AZAbAjArAzAAA[4 2@A]e3tAffl@AaA/AM?AG&?Aɛ?A:q<*AE/:?2AԽ:A_BAE/:?JAԽRA_Y,>?yВv+bٓHl? N ??+'N?`4y?),> I٘i)I9fl@YG J<C=JӺJJJF&KNt> Y\~?yEA?TF)7ŧ79?B)ܯBE[[ >[\~?[Eͪ[[[[BZYY i) B)ׯBE[[>[d\~?[+ʪ[[[[BZYY i) -:?2AfԽ:A=BAw>:?JAfԽRA=٘i)I9[m@YvG J{<JJJJF&K Y\~?yݪ:FAVF)7ŧ79)ӯB[[>[>\~?[ƪ[[[[BZYY i) < elevatorAngleAction: 0.076081< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743041129.223291F (some fields omitted in printout)AzǑ@AQٰ@A]~? AA9%"AAsNA"AZAbAjArAzAAAR Q2@A`4,tAm@A<AᇐA(?Av|?A`Q(?AA<*Ak::?2A`ս:A"TBAk::?JA`սRA"T٘i)I9m@YG J^<JJJJF&K Y]~?yتFAXF7779=B)ϯBE[[۵>[ \~?[mê[[[[BZYY i) 6L[\~?[˿[[[[BZYY i) ،[&:2?y2<ٓH|?B w? ?R<?`r1??)C> I٘i)I9n@YVG J<JRJJJF&Kt> Y#0]~?yZΪYGA:2?ZFj7j7v98B)¯BE[[>[]~?[ [[[[BZYY i) j elevatorAngleAction: 0.076081< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743041130.483285F (some fields omitted in printout)A\h@Ab1[@A]~? AA)%"AAtNA"AZAbAjArAzAAA I3@Atm$tANo@A^~;AAy7?A@?A?A<*A-):?2Aս:A|` BA-):?JAսRA|` ٘i)I9No@YG Ji<JJJJF&K YE]~?yȪGA\F77@94B)B[[U?[(]~?[[[[[BZYY i) y"tAfo@AJAAb elevatorAngleAction: 0.085184< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743041131.743310F (some fields omitted in printout)Aףp= @A070@A@.^~? A0իA2%"AAaztNA"AZAbAjArAzAAA>+~4@ASktAhp@AiGA᜽AF?A@?A?A8<*A0:?2AԽ:AwBA0:?JAԽRAw٘i)I9p@YG J<C=JJJJF&K Y͆]~?yŷHA`F9)B[[?[l]~?[<[[[[BZYY i) y“ Y]~?yyUIAK?aFb77k91B)BE[[h?[ ]~?[[[[[BZYY i) <뾢; "?))Hz"?"?y&Y=\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041132.183165 s, next control iter: 1743041132.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041132.583165 s.&K~,S%,AJ"J*J2J:J?BJ?nJ 5vJA)\u@Ah@AW^~? AY˫A?%"AAtNA"AZAbAjArAzAAAo$+4@AitAr@Ar;A@AOJQ?A^?Aa?Ai<*A:?2AHֽ:ABA:?JAHֽRA٘i)I9r@YYG J<JJJJF&K YE]~?y.IAbF777769.B)BE[[m?[=]~?[桪[[[[BZYY i) ; >?)) >?>?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041132.623165 s, next control iter: 1743041132.983180 s, wait time: 0.360015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14631 , header.stamp.nsec: 0 0 temperature: 13.565844 * salinity: 33.375469 , density: 1025.000000 * values[0]: 0.577960 F (some fields omitted in printout):E]~?):. rAdjusting time to match Gazebo time: 1743041133.003165 s.y &K~,P4@,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085184< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743041133.003319F (some fields omitted in printout)AR@Af.py@Ak^~? A:ƫAR%"AAtNA"AZAbAjArAzAAAqy 85@A. ItAr@AoK<AMAiV?Ac?A`I(?A`<*A,:?2AX,ս:ABA,:?JAX,սRA٘i)I9r@YG J0<JJJJF&K Y]~?y㤪*JAdF7{79-B)BE[["?[2]~?[[[[[BZYY i) .$v; ?))??3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041133.023165 s, next control iter: 1743041133.403176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041133.423165 s.u&K~,[,AJ"J*J2J:JBJnJvJA{G@A;ԓ@A^~? AA%"AAtNA"AZAbAjArAzAAA;asUu5@A4ktA=s@AӠU<AA[?A?A@?A:Q<*Av%:?2Aeս:ABAv%:?JAeսRA٘i)I9=s@Y G JA<JJJJF&K Y]~?yJAeFb779,B)BE[[sp(?[]~?[ӗ[[[[BZYY i) OmU; '?))'?'?*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041133.443165 s, next control iter: 1743041133.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14632, header.stamp.nsec: 00 temperature: 13.565458* salinity: 33.375488, density: 1025.000000* values[0]: 0.578722F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041133.843165 s.&K~,u,AAp= @A; @A6^~? AA]%"AAuNA"AZAbAjArAzAAA15@A tAws@A;A(A`?A Xr?A?Ah<*A[:?2Alս:ABA[:?JAlսRA٘i)I9s@YhG J<JJJJF&K Yx]~?yMKAfF7779)B[["-?[|]~?[[[[[BZYY i) )  m9; ~?))~?~?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041133.863165 s, next control iter: 1743041134.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041134.263165 s.&K~,,ؐ,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085184< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743041134.263305F (some fields omitted in printout)AL@AƣT?@Aa^~? A#A!%"AA2uNA"AZAbAjArAzAAAnjN5@Av tAvt@AF]NA_謽A e?A ?A`?AR<*AJ:?2A_ս:ABAJ:?JA_սRAY-?e?y'謽OٓHm?@1\? O?@z^r?i?)-? I٘i)I9vt@YG J<J텼JJJF&K&u> Y]~?ymtKAe?hFZ7Z7a9+B)BE[[3?[n]~?[ [[[[BZYY i) iY ; G?))A(}G?G?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041134.283165 s, next control iter: 1743041134.663180 s, wait time: 0.380015 s6tReceived state from Gazebo (printed only once in a while):62 header.stamp.sec: 146336, header.stamp.nsec: 060 temperature: 13.5650846* salinity: 33.3754846, density: 1025.0000006* values[0]: 0.5795056F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041134.683165 s.l&K~,s,AA(\@Au@A1^~? AA/%"AANuNA"AZAbAjArAzAAAQLW#6@A{ tA8u@A:A2.Aɫj?Aj?Ar?A<*A :?2ASnս:ABA :?JASnսRA٘i)I9u@Y/G J<JJJJF&K Y ^~?yKAiF{7j7+9(B)BE[[ 9?[*^~?[[[[[BZYY i) :  ?))  ? ?*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743041134.683165 s, next control iter: 1743041135.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743041135.103165 s.&K~,ƛ,AJ"J*J2J:JBJnJvJAQ@A F@A^~? AҪAc%"AA)kuNA"AZAbAjArAzAAAu@[6@A|tAu@A_AAo?A`4v?A`U?A6<*A:?2AToԽ:ABA:?JAToԽRA٘i)I9u@YG J<JJJJF&K YC^~?y\LAjF7779'B)xBE[[,>?[^~?[ȁ[[[[BZYY i) S elevatorAngleAction: 0.085184< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743041135.523325F (some fields omitted in printout)AHz@A' @A^~? AA/%"AAۆuNA"AZAbAjArAzAAA\6@AsA|v@A$YADAt?A?A?A~<*A:?2AB ս:ABA:?JAB սRA٘i)I9|v@YG JE<JJJJF&K Y/^~?y|LAlFj7Z79)sB[[DD?[,^~?[{[[[[BZYY i) C,AAY@AdL@A_~? AA%"AAuNA"AZAbAjArAzAAAUђ6@A~sAw@AC <A=A?A@w?A?A<*A:?2AK^ֽ:A?BA:?JAK^ֽRA?YhuG??y <ٓHD? T1?@O?`M ?K??)huG? I٘i)I9w@YG J<J=JJJF&K3v> YP^~?ynMA?nFb77V9!B)bB E[[pO?[T^~?[o[[[[ZZZZ¸>BZYY i¸>\b) ' Y^~?yIOA?uF77L9B)=BE[[l?[v^~?[N[[[[ZZZZBZYY i) xJ +?))+?+?s*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743041138.483165 s, next control iter: 1743041138.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14637, header.stamp.nsec: 00 temperature: 13.563330* salinity: 33.375557, density: 1025.000000* values[0]: 0.583306F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041138.883165 s.y-'K~,@,AA(@A@A__~? ArAC%"AANvNA"AZAbAjArAzAAA-cl8@A3s6sAr|@AM/AzϼA9C?A O?A`px?A<*A$:?2A@1ֽ:Aܪ:BA$:?JA@1ֽRAܪ:٘i)I9r|@YG Ju<JJJJF&K Y^~?yAAPAvF9)7B[[hq?[p^~?[F[[[[ZZZZBZYY i) ̋ r?))r?r?yOsYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041139.763165 s, next control iter: 1743041140.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743041140.143165 s.X/B'K~,* ,AJ"J*J2J:J?BJ?nJ5vJA ףp=@A\4d0@A_~? A^A1%"AA'vNA"AZAbAjArAzAAA1 8@AWM=sA}@AW<A/<A?A?A=?A;*A:?2AFֽ:A<BA:?JAFֽRA<٘i)I9}@YKG J;JJJJF&K Y^~?y)PAzF{7j7v9B)*BE[[?[^~?[k0[[[[BZYY i) ]VJJJF&Kw> YT^~?yt!PA?|FZ7SI7A9B)(BE[[ڧ?[^~?[([[[[BZYY if"m) q{E,AJ"J*J2J:J?BJ?nJ5vJA\@Ahꛗ@A1_~? AOAB%"AAvNA"AZAbAjArAzAAAn8@AB"sA}@A0;A?5=AO?A=?Aǵ?AS*AV9?2A_ֽ:Aw<BAV9?JA_ֽRAw<٘i)I9}@YSG JJJJJF&K Y^~?y:mPA}F777 9)[[?[I_~?[ [[[[BZYY iB) )4׽:A =BA9?JA,>׽RA =٘i)I9|@YG JAB=JJJJF&K Y?_~?yOAF{7j7l9)*B[[b?[6_~?[o[[[[BZYY i) -;IH?i3=) ?))??\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041142.263165 s, next control iter: 1743041142.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041142.663165 s.j'K~,q,AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14641, header.stamp.nsec: 00 temperature: 13.562711* salinity: 33.375580, density: 1025.000000* values[0]: 0.584406F (some fields omitted in printout)A@ASr@A_~? A2Aw%"AACvNA"AZAbAjArAzAAAr9@AsYsAw|@A?Al=Alצ?A@?A`]?AD*A[9?2AOֽ:A\=BA[9?JAOֽRA\=Y?Ŧ?y`=ٓH?@@ɇ?? ?`?w;~?)? II٘i)I9w|@YG JqC=J%=JJJF&Kx> Y_~?yOAŦ?F{769)-B[[݀?[B_~?[![[[[BZYY i|m) 7;IPH?iA ?))??ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041142.683165 s, next control iter: 1743041143.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041143.083165 s.Dq'K~,Sŝ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058029< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743041143.083302F (some fields omitted in printout)A)\µ@Avmo@A_~? Ar+Ay%"AA wNA"AZAbAjArAzAAAT9@Ai`δsAr{@A9:Al=A@\?A`x?A@4?A發*A_9?2Aֽ:AbC=BA_9?JAֽRAbC=٘i)I9{@Y`G JJJJJF&K Y2_~?y!OAFb779 B),BE[[}?[N_~?[[[[[BZYY i) t;IDH?iM ?))??;ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041143.103165 s, next control iter: 1743041143.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041143.503165 s.w'K~,74,AJ"J*J2J:JBJnJvJAR@AWyޘ@A_~? A#AX%"AA,wNA"AZAbAjArAzAAA99@A:sAgv{@AA\*<A"=A?A@?A 5?Ap*A)9?2A_fֽ:A*=BA)9?JA_fֽRA*=٘i)I9v{@Y G J)JJJJF&K Y_~?yNAF9)0B[[~?[Y_~?[[[[[BZYY i) 5;IH?ilW ?))??(تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041143.523165 s, next control iter: 1743041143.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14642, header.stamp.nsec: 00 temperature: 13.562870* salinity: 33.375591, density: 1025.000000* values[0]: 0.583889F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041143.923165 s.5~'K~,,AA{G!@A >@A_~? AaAh-%"AA*wNA"AZAbAjArAzAAAzeJv9@AS;sAz@A[<AAV=Aw?A"?A^?Ao*A9?2Aiֽ:A=BA9?JAiֽRA=٘i)I9z@YG JB=JJJJF&K Y&_~?yީ]NAF77779)5B[[o?[?d_~?[e[[[[BZYY i) u;IH?iM_ ?))??y9m٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041143.943165 s, next control iter: 1743041144.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041144.343165 s.<'K~,,AJ"J*J2J:Je?BJe?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058029< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743041144.343312F (some fields omitted in printout)Ap= W@AU.TI@A{_~? AA%"AA 8wNA"AZAbAjArAzAAA?9@AҜ|sAEz@A<AwQ=A?Av?A;?AzḼ*AE9?2A­ֽ:AAV =BAE9?JA­ֽRAAV =٘i)I9Ez@YSG JC=JJJJF&K Y&_~?y֩MAF7a9):B[[j?[n_~?[ݩ[[[[BZYY i) BM;IZH?i'e T@))T@T@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041144.383165 s, next control iter: 1743041144.743177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14643*, header.stamp.nsec: 0*0 temperature: 13.563101** salinity: 33.375576*, density: 1025.000000** values[0]: 0.583222*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041144.763165 s.5'K~,0,AǍ@AA@A_~? A AV%"AADwNA"AZAbAjArAzAAAkB'9@A3BFsAy@A9A=Aг?A#?Ac?A>*A9?2A ׽:Ao=BA9?JA ׽RAo=Y4ŗ?ѳ?y=n,9ٓH? e Y? bx?`e&?` ? =S]2:??)4ŗ? I٘i)I9y@YG J3J&<JJJF&Kxx>  9YI+_~? 9yhͩMAѳ?FS77,9 B)sA4pw@A~:A=A'H?A8?A`?Aϟ*A:?2Aֽ:A<BA:?JAֽRA<٘i)I9pw@YG JJJJJF&K Y=_~?yKAF77W9B)JBE[[tƮ?[u_~?[][[[[BZYY i) ^I>H?iȇ- !@))!@!@yYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041146.483165 s, next control iter: 1743041146.843179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14645, header.stamp.nsec: 00 temperature: 13.563564* salinity: 33.375595, density: 1025.000000* values[0]: 0.581892F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041146.863165 s.+'K~,>,AJ"J*J2J:J?BJ?nJ35vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067074< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743041146.863348F (some fields omitted in printout)A@A@A`~? AAO%"AAywNA"AZAbAjArAzAAAcc:@AlsAv@A;A=A?A_?A?AXɝ*Au:?2AVֽ:Az5<BAu:?JAVֽRAz5?)CѤ? I٘i)I9v@YHG JJEJJJF&Kx> Y?_~?y䡩KA?F777! 9)NB[[/ձ?[C_~?[ [[[[BZYY i) /fI/H?iR4 A @))A @A @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041146.883165 s, next control iter: 1743041147.263182 s, wait time: 0.380017 s?_~?)䡩 rAdjusting time to match Gazebo time: 1743041147.283165 s.[R'K~,d Ҟ,AA(\Ϛ@AcAaPš@A%`~? AުA%"AAwNA"AZAbAjArAzAAAGB˝r:@A7sA{gv@A9R<A=A]?A3?A@?A*A:?2A ֽ:A<BA:?JA ֽRA<٘i)I9gv@YG JtJJJJF&K YA_~?y:KAF77 9)RB[[>?[a_~?[̝[[[[BZYY i) in[IH?i֑: p @))p @p @ສYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041147.303165 s, next control iter: 1743041147.683214 s, wait time: 0.380049 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14646., header.stamp.nsec: 0.0 temperature: 13.563776.* salinity: 33.375603., density: 1025.000000.* values[0]: 0.581283.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041147.703165 s.׺'K~,,AJ"J*J2J:JBJnJvJAQ@A4e@A)`~? A ֪A3%"AA'wNA"AZAbAjArAzAAA]Ž:@A4FҹsAiu@A ?F<A_=A?A@@?A`5.?AZm*A:?2A>ֽ:AS<BA:?JA>ֽRAS<٘i)I9u@YG JOB=JJJJF&K Y^C_~?yNJAF{7{7 9)VB[[?[Τ_~?[a[[[[BZYY i) yŌIH?iS#? D @))D @D @ YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743041147.723165 s, next control iter: 1743041148.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041148.123165 s.>'K~,z,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067074< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743041148.123286F (some fields omitted in printout)AG:@A8{-@A-`~? A#ΪA &"AAďwNA"AZAbAjArAzAAA#y:@A"{{sAlu@Aek;A=AR?A>r?AA?ARG*A:?2Aֽ:Ab<BA:?JAֽRAb<٘i)I9lu@Y_G JmC=JJJJF&K Y,E_~?yJAFj79B)XBE[[[?[_~?[ꊩ[[[[BZYY i) oIG?iƗSFB @))@@ȵYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041148.143165 s, next control iter: 1743041148.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041148.543165 s.I'K~,",AJ"J*J2J:J?BJ?nJ5vJA= ףp@Ac@AY1`~? A ƪA&"AAwNA"AZAbAjArAzAAAo:@A%3vsAt@A曻Â=AW?A?AdR?A*A:?2AI׽:A?9<BA:?JAI׽RA?9<٘i)I9t@YG JJJJJF&K YF_~?y~$JAFb77L9)[B[[Y3?[x_~?[f[[[[BZYY i2ꜽ) "ʻIG?i0~D ^Q@))^Q@^Q@DYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743041148.563165 s, next control iter: 1743041148.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14647, header.stamp.nsec: 00 temperature: 13.564002* salinity: 33.375595, density: 1025.000000* values[0]: 0.580718F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041148.963165 s.t'K~,ߤ=,AAffff@A_@A^4`~? AAY&"AAwNA"AZAbAjArAzAAA!g5٠:@ArrsAkt@A٣DAgW=A?Aij?A@`?A*A:?2An׽:AQ<BA:?JAn׽RAQ YE_~?yuIA?F7779)_B[[K?[_~?[w[[[[BZYY i) R3I!G?i'J \@))\@\@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041148.983165 s, next control iter: 1743041149.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041149.383165 s.'K~,8X,AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743041149.383343F (some fields omitted in printout)A(ܛ@AA ϛ@A6`~? A A&"AAɞwNA"AZAbAjArAzAAACb:@AjT$msA t@A}SA=A?AP߯?Ak?A|*A9?2AG[׽:A<BA9?JAG[׽RA<٘i)I9t@YG JC=JJJJF&K YD_~?y muIAF{7j79B)`BE[[g?[._~?[Un[[[[BZYY i) IG?i$N .X@)).X@.X@4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041149.403165 s, next control iter: 1743041149.783180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14648", header.stamp.nsec: 0"0 temperature: 13.564178"* salinity: 33.375591", density: 1025.000000"* values[0]: 0.580207"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041149.803165 s.A'K~,gs,AA@A@A8`~? AA&"AA0wNA"AZAbAjArAzAAAeP:@A}8hsAs@AA=A.?AC?A@at?A*A9?2A׽:A*<BA9?JA׽RA*<٘i)I9s@YRG J}JJJJF&K YC_~?ySdIAFb779)dB[[?[_~?[d[[[[BZYY i) IG?iLMR @))@@y֜YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041149.823165 s, next control iter: 1743041150.203185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743041150.223165 s.J "J *J 2J :J x?BJ x?nJ 5vJ g'K~,H,AAzG@A:@A>:`~? A祪A1&"AAˤwNA"AZAbAjArAzAAA}iӦ:@AJJcsADs@A';A=A/?A`H?A lz?A*A 9?2A#ֽ:AV=BA 9?JA#ֽRAV=٘i)I9Ds@YG JJJJJF&K YB_~?y[HAF77w9)gB[[?[_~?[[[[[[BZYY i) ;$I@G?i꥿_T i@))i@i@ĹYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041150.243165 s, next control iter: 1743041150.623182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743041150.643165 s.w'K~, *,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743041150.643291F (some fields omitted in printout)A ףp}@Avhp@A&;`~? AӝAT&"AAwNA"AZAbAjArAzAAAuf:@AU\^sA?r@Aa1<Ae=Ak>?AA@?A~?A䋼*A9?2A=ֽ:A=BA9?JA=ֽRA=٘i)I9r@YG JeB=JJJJF&K YA_~?yRnHA EFB9)kB[[?[(_~?[sQ[[[[BZYY i) S3IWG?i{U @))@@OYFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14649, header.stamp.nsec: 00 temperature: 13.564381* salinity: 33.375599, density: 1025.000000* values[0]: 0.579686F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743041150.663165 s, next control iter: 1743041151.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041151.063165 s.'K~, ğ,AJ"J*J2J:Jf?BJf?nJ5vJA3333@A'@A;`~? AA$m&"AAwNA"AZAbAjArAzAAAs:@Af7_5mYsA[r@AXD\<A+=AU?A)h?A\?A*AI9?2Aֽ:AFz =BAI9?JAֽRAFz =Y Y=_~?yIHA?Fŧ7b7 9B)mBE[[?[_~?[G[[[[BZYY i) JeCIG?i]OZ {@)){@{@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041151.083165 s, next control iter: 1743041151.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041151.483165 s.v_'K~,ޟ,AA\@Aǜgۜ@Ab;`~? AA &"AAէwNA"AZAbAjArAzAAA3:@At0~TsALq@Ait<A=Aiz?A DA :~?Aؑ*A9?2Aֽ:AjW =BA9?JAֽRAjW =٘i)I9q@Y7G JJJJJF&K Y9_~?yEAGAF9)qB[[ ?[^_~?[9>[[[[BZYY i) ,RIgrG?i43] @))@@OĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041151.503165 s, next control iter: 1743041151.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14650, header.stamp.nsec: 00 temperature: 13.564588* salinity: 33.375599, density: 1025.000000* values[0]: 0.579132F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041151.903165 s.'K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743041151.903287F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A٭@A:`~? AAШ&"AA=wNA"AZAbAjArAzAAAP? :@AqdOsAfq@A'[A6=A+?A ΛA@z?Ac$*A9?2A׽:A =BA9?JA׽RA =٘i)I9fq@YG JJJJJF&K Y5_~?y8TGAFb779)tB[[ 0?[T_~?[4[[[[BZYY i) KbI_G?i_ @))@@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041151.923165 s, next control iter: 1743041152.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041152.323165 s.t(K~,,AAGzT@AnG@A}9`~? A}AF&"AAԥwNA"AZAbAjArAzAAA)RX:@A¡JsAp@AAѓ=A?A äA@Kt?A*A9?2AX׽:A_ =BA9?JAX׽RA_ =٘i)I9p@YG JyJJJJ F&K Y1_~?y/FAFj7j7l 9B)wBE[[U?[_~?[*[[[[BZYY i) jqILG?i` @))@@Q˪YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743041152.343165 s, next control iter: 1743041152.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14651*, header.stamp.nsec: 0*0 temperature: 13.564805** salinity: 33.375607*, density: 1025.000000** values[0]: 0.578559*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041152.743165 s.W (K~,~/,AJ"J*J2J:J?BJ?nJN5vJAףp=@A_D1}@A7`~? ApuA&"AAwNA"AZAbAjArAzAAA\G:@AEsAop@AZAx=A?A`VAuk?Aa *AQ9?2A!`׽:A =BAQ9?JA!`׽RA =٘i)I9op@YUG J+JJJJ F&K Y-_~?y'FAF{77"9B)}BE[[{?[_~?[c![[[[BZYY iԯ) I9G?if` ٫@))٫@٫@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041152.763165 s, next control iter: 1743041153.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041153.163165 s.x}(K~,qJ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085855< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743041153.163282F (some fields omitted in printout)A@Ag{@As5`~? AcmAu&"AAwNA"AZAbAjArAzAAAd4:@AX@sAo@Aj+AW=A ?A`yA@)`?A6*A 9?2A'׽:A =BA 9?JA'׽RA =Y?d?y.=_,ٓHο?Mο?`s|?)? I٘i)I9o@YG JJt<JJJ F&K[x> Y4'_~?y1FA?Fŧ7b7$9)B[[?[_~?[[[[[BZYY i) %I&G?icVd Z5!@))Z5!@Z5!@pҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041153.183165 s, next control iter: 1743041153.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041153.583165 s.(K~, Se,AJ"J*J2J:JBJnJvJA)\@AZ@A2`~? A[eA&"AAÜwNA"AZAbAjArAzAAAZO:@Am.n;sAio@APA=A&?A=A+R?An*A9?2Apֽ:A|W=BA9?JApֽRA|W=٘i)I9io@YG JxJJJJ F&K Ys _~?yEAF77{7%9)B[[?[_~?[X[[[[BZYY i) IFG?iSf F"@))F"@F"@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041153.603165 s, next control iter: 1743041153.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14652, header.stamp.nsec: 00 temperature: 13.565068* salinity: 33.375595, density: 1025.000000* values[0]: 0.577979F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041154.003165 s.| (K~,]4,AAR+@Aty@AQ/`~? AX]A1&"AA'wNA"AZAbAjArAzAAA!:@AO`J7sAn@A;AĞ=A ?A UAA?A*A9?2Arֽ:Aa=BA9?JArֽRAa=٘i)I9n@YaG JVJJJJF&K Y_~?yw dEAFŧ77'9B)BE[[?[_~?[[[[[BZYY i) E@IF?i5g FO$@))FO$@FO$@y<ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041154.023165 s, next control iter: 1743041154.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041154.423165 s.u&(K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085855< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743041154.423285F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@A]=T@Ay+`~? AZUAtW &"AA’wNA"AZAbAjArAzAAAc} ׅ:@AHil2sAMn@AcrV<A¡=Aϫ?AJA#/?A*A9?2AUOֽ:A;=BA9?JAUOֽRA;=٘i)I9Mn@Y G JJJJJF&K Y_~?yDAFb7b)9)B[[?[-_~?[p[[[[BZYY i) ͞IQF?iGg %@))%@%@SުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041154.463165 s, next control iter: 1743041154.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14653, header.stamp.nsec: 00 temperature: 13.565322* salinity: 33.375607, density: 1025.000000* values[0]: 0.577308F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041154.843165 s.,(K~,,AAp= @A@A'`~? AdMA; &"AAwNA"AZAbAjArAzAAAݚx:@AW.C-sA\m@AB<AG=AJ?A$A ?A *A9?2Asֽ:A:=BA9?JAsֽRA:=٘i)I9m@YG J˲JJJJF&K Y. _~?y^DAF)7,+9B)BE[[y>?[}_~?[[[[[BZYY i) [IF?i̳%f Vo'@))Vo'@Vo'@4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041154.863165 s, next control iter: 1743041155.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041155.263165 s.J "J 4(K~*J2J,'Р,A:J?BJ?nJ5vJA̞@A `@A8"`~? AuEAt &"AAwNA"AZAbAjArAzAAA}[;i:@Atk(sAmm@A;AK=AM?A@H¿A?A*A@9?2A*ֽ:Afi=BA@9?JA*ֽRAfi=Y?A?yJ=|;ٓH zտ |"@Gӗ?տ ?a㴿`?r?`?)? I٘i)I9m@YPG JJ<JJJF&Kix> Y_~?y&DA?FSI7SI7,9)B[[d?[t_~?[[[[[BZYY i) bImF?iൿh  (@)) (@ (@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041155.303165 s, next control iter: 1743041155.663175 s, wait time: 0.360010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 146542, header.stamp.nsec: 020 temperature: 13.5656262* salinity: 33.3755842, density: 1025.0000002* values[0]: 0.5766052F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041155.683165 s.l:(K~,^,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085855< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743041155.683315F (some fields omitted in printout)A(\@A5@A`~? A=A) &"AA}wNA"AZAbAjArAzAAAi`Y:@A^#sA3l@AݬA@=Ac?AچĿA?AD<*Aް9?2Aw#׽:A+x=BAް9?JAw#׽RA+x=٘i)I9l@YG JB=JJJJF&K Y-^~?yCAF{7j7.9B)BE[[O?[k_~?[ߨ[[[[BZYY i) &IñF?i涿j *@))*@*@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041155.683165 s, next control iter: 1743041156.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743041156.103165 s.A(K~,,AJ"J*J2J:JBJnJvJAQ8@At{I+@A`~? A5A &"AAAuwNA"AZAbAjArAzAAAcaG:@AsAzk@AGA=A^?A0hƿA?A*Aҫ9?2AOK׽:A=BAҫ9?JAOK׽RA=٘i)I9k@YG JfC=JJJJF&K Y^~?yECAFj709B)B E[[޵?[|`_~?[i֨[[[[BZYY i) %oIF?iݶj e,@))e,@e,@YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041156.123165 s, next control iter: 1743041156.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041156.523165 s.G(K~,{!,AAHzn@Aa@Al`~? A-A\ &"AAkwNA"AZAbAjArAzAAA^3:@A^sAIk@AOAdp=A ?ACȿA}?Ap*A!9?2Ah+׽:A=BA!9?JAh+׽RA=٘i)I9Ik@Y3G JHJJJJF&K Y,^~?y<ۨBAFZ7Z7W29)B[[?[?U_~?[Zͨ[[[[BZYY i) üIF?iŵƪh Ҩ-@))Ҩ-@Ҩ-@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041156.543165 s, next control iter: 1743041156.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14655, header.stamp.nsec: 00 temperature: 13.386602* salinity: 33.391640, density: 1025.000000* values[0]: 0.696448F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041156.943165 s.[dN(K~,O]<,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085855< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743041156.943295F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף@A{p̖@Au `~? A&Av &"AAawNA"AZAbAjArAzAAA]ճ:@AxxGsAj@AcԻAh=A?A@gʿA+?Agȼ*Aբ9?2Aֽ:AH=BAբ9?JAֽRAH=٘i)I9j@YG JüJJJJF&K Y^~?yҨeBAFŧ77"49)B[[i?[PI_~?[dĨ[[[[BZYY i) }'˼I>wF?ie :/@)):/@:/@rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041156.983165 s, next control iter: 1743041157.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743041157.363165 s.U(K~,>W,AAٟ@A̟@A`~? A]A &"AAVwNA"AZAbAjArAzAAAY3:@Ac>sAVi@AM;A=As@A˿A`f?AR.Ѽ*A9?2Agֽ:A=BA9?JAgֽRA=Y?@y=N;ٓHBtۿq䡿`?[ۿ`?hwi? Z?)? I٘i)I9i@YfG J]̼J`q<JJJF&Kx> Y^~?y˨AA@F7b759B)B E[[~@[<_~?[[[[[BZYY i) WҼIcF?iǴxeg  0@)) 0@ 0@JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041157.383165 s, next control iter: 1743041157.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14656&, header.stamp.nsec: 0&0 temperature: 13.386880&* salinity: 33.391640&, density: 1025.000000&* values[0]: 0.695112&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041157.783165 s.Z[(K~,r,AJ"J*J2J:JBJnJvJA(\@AS@A_~? AA"&"AA7KwNA"AZAbAjArAzAAA9@A9 sAFi@Ag6<Al{=AMC@ArͿA`*A?Avtؼ*A9?2A$ֽ:A;=BA9?JA$ֽRA;=٘i)I9Fi@Y G JԼJJJJF&K Y`^~?yèsAAFb7779B)BE[[+@[U/_~?[[[[[BZYY i) ׉ټIWPF?iᴿg U2@))U2@U2@cYFFF]: Waiting for Gazebo time sync: latest Gz time: 1743041157.823165 s, next control iter: 1743041158.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041158.203165 s.c(K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085855< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743041158.203281F (some fields omitted in printout)AQE@ATb8@A_~? A A&"AA>wNA"AZAbAjArAzAAA*FE9@AQ96sAh@AY<At=A؍@A LyϿA?A6wܼ*A9?2AX*ֽ:AJ =BA9?JAX*ֽRAJ =٘i)I9h@Y G JڼJJJJF&K Y;^~?y#@AF)7b799)B[[z<@[P!_~?[[[[[BZYY i) ϸI=F?i쳿Nf m3@))m3@m3@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041158.243165 s, next control iter: 1743041158.603175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743041158.623165 s.Vi(K~,X⧡,AJ"J*J2J:JBJnJvJAGz@A/im@A_~? AyAL&"AA1wNA"AZAbAjArAzAAAF9@AKssASg@A <A{=A@AпAs?AAܼ*A9?2Asֽ:AK=BA9?JAsֽRAK=٘i)I9g@Y G J ݼJJJJF&K Y^~?y3@AF77{7M;9B)ȯBE[[@@[_~?[[[[[ZZ¸BZYY i¸쉪=) ߱ԼI)F?i걿&c u5@))u5@u5@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041158.623165 s, next control iter: 1743041159.023177 s, wait time: 0.400012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14657 , header.stamp.nsec: 0 0 temperature: 13.387221 * salinity: 33.391674 , density: 1025.000000 * values[0]: 0.693649 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041159.043165 s.Ũp(K~,¡,AA= ף@AqR@A)_~? AA&"AA#wNA"AZAbAjArAzAAA$s9@ArA+g@AMCKAt=A&>@AѿA`!?A-ۼ*A(9?2Aֽ:A@S=BA(9?JAֽRA@S=I٘i)I9g@Y G JnܼJJJJF&K Y^~?yD @AF7ŧ7=9)ίBE[[`@[U_~?[([[[[ZZBZYY i) ȼIF?iܮe_ 7@))7@7@%YFFF]Waiting for Gazebo time sync: latest Gz time: 1743041159.083165 s, next control iter: 1743041159.443189 s, wait time: 0.360024 s rAdjusting time to match Gazebo time: 1743041159.463165 s.J "J *J 2J :J b1?BJ b1?nJ 95vJ Qw(K~,Ӥݡ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083271< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743041159.463266F (some fields omitted in printout)Affff@A:]٠@A6_~? AA.r&"AAwNA"AZAbAjArAzAAAuI9@AmYsrARf@A{A=A@A iҿA` ?AZ*A9?2A׽:AJ<BA9?JA׽RAJ YC^~?y?A@F{7j7>9)կB[['@[W^~?[ܐ[[[[ZZBZYY i) I@F?i%` 8@))8@8@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041159.503165 s, next control iter: 1743041159.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14658, header.stamp.nsec: 00 temperature: 13.387546* salinity: 33.391663, density: 1025.000000* values[0]: 0.692170F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041159.883165 s.y}(K~,I,AA(@A.2@A_~? AA&"AAwNA"AZAbAjArAzAAA>)`9@Avg^rAywe@Ah^A*~=A@A`JӿA@ ]?A`*A9?2A$׽:AG<BA9?JA$׽RAG<٘i)I9we@Y G JeJJJJ!F&K Y^~?y=?AF)7)7@9 B)ݯBE[[j @[^~?[[[[[ZZBZYY i) ҹIE?iP_ ":@))":@":@y=ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041159.923165 s, next control iter: 1743041160.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743041160.303165 s.R(K~,fg,AJ"J*J2J:JBJnJvJAQ@AS%D@Aݿ_~? AA&"AA~vNA"AZAbAjArAzAAAW?9@A zrAߣd@A.AEw=A3 @A(ԿA)?A*A9?2A!ֽ:A]<BA9?JA!ֽRA]<٘i)I9d@Y' G JJJJJ#F&K Ys^~?y>AFj7j7wB9)B[[ @[y^~?[[[[[ZZBZYY i) äIE?iw\ ϱ;@))ϱ;@ϱ;@;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041160.323165 s, next control iter: 1743041160.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14659., header.stamp.nsec: 0.0 temperature: 13.387947.* salinity: 33.391689., density: 1025.000000.* values[0]: 0.690459.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041160.723165 s.(K~,H.,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083271< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200632 time: 1743041160.723324F (some fields omitted in printout)Az@ALz@Ax_~? AA &"AAvNA"AZAbAjArAzAAAv>899@A rA`c@A$A3=Ay @A~տA?AҼ*A͹9?2A0ֽ:A-;BA͹9?JA0ֽRA-;٘i)I9c@Y G J&JJJJ$F&K Y?e^~?y81>AFZ7Z7BD9 B)BE[[R @[^~?[x[[[[ZZBZYY i) ˘IE?i Y tA=@))tA=@tA=@|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041160.743165 s, next control iter: 1743041161.123176 s, wait time: 0.380011 s&?e^~?)&8 rAdjusting time to match Gazebo time: 1743041161.143165 s.V/(K~,*I,AJ"J*J2J:J0?BJ0?nJ!95vJA ףp@A٭e@A_~? Aa۩A׭&"AAvNA"AZAbAjArAzAAAjC8@Aa}rA;=c@Aڻ;ArR<Aj @A`տA`?A0*A9?2Aֽ:A89źBA9?JAֽRA89ź٘i)I9=c@YM G JżJJJJ%F&K YV^~?y=AF{7{7 F9)B[[V6@[K^~?[q[[[[ZZBZYY i)  ӌIE?iJT >@))>@>@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041161.163165 s, next control iter: 1743041161.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041161.563165 s.(K~,c d,AA3333@A(@AA_~? AHԩAI9&"AAvNA"AZAbAjArAzAAAwj38@As)WrAb@AKNE<A$<A@AQֿAg?Ak*A9?2Aֽ:A} BA9?JAֽRA} Y @@y&!<PE<ٓH@V ~@%n?`E~?U?@䃿@??) @ I٘i)I9b@Y G JJu9JJJ'F&K{x> YuE^~?y~=A@FZ7SI7G9 B)BE[[@[6^~?[}i[[[[ZZBZYY iPi=)  I0E?iF5S ^@@))^@@^@@rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041161.603165 s, next control iter: 1743041161.963182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14660, header.stamp.nsec: 00 temperature: 13.388278* salinity: 33.391682, density: 1025.000000* values[0]: 0.689003F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041161.983165 s.(K~,~,AJ"J*J2J:Jb0?BJb0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064654< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743041161.983293F (some fields omitted in printout)A\(@A@As_~? ABͩA=&"AAvNA"AZAbAjArAzAAA1ѡ8@A-rAPb@A^.<AлAm\@A N׿AI?Ao~>*A19?2Aֽ:AwBA19?JAֽRAw٘i)I9Pb@Y G JpJJJJ(F&K YY4^~?yw=AF77I9)B[[X@[^~?[ b[[[[ZZBZYY il=) `&rIE?iSWQ A@))A@A@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041162.003165 s, next control iter: 1743041162.383182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743041162.403165 s.&(K~,͙,AAQ^@AQ@A/_~? ARƩAK&"AAvNA"AZAbAjArAzAAA-*o8@ArAb@AE[Z;A驼AS@A@1^ؿA ?A-%*Av9?2AWuֽ:Ar2BAv9?JAWuֽRAr2٘i)I9b@Y G JJJJJ)F&K Y;#^~?yp=AF7)7mK9B)BE[[@[er^~?[Z[[[[ZZBZYY i) d^I\E?iM |C@))|C@|C@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041162.423165 s, next control iter: 1743041162.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14661", header.stamp.nsec: 0"0 temperature: 13.388499"* salinity: 33.391716", density: 1025.000000"* values[0]: 0.688082"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041162.823165 s.(K~,:,AJ"J*J2J:JBJnJvJAGz@Awo@Axt_~? AvAq&"AAvNA"AZAbAjArAzAAAڲZ8@AA.rAIa@AFĻA܌A@A,,ٿA ?A%@*Aɧ9?2A6ֽ:A,ϼBAɧ9?JA6ֽRA,ϼ٘i)I9a@Y G J!gJJJJ+F&K Y^~?yi=AF777M9B)BE[[^w@[]^~?[S[[[[BZYY i) 3JIuE?iӜH  E@)) E@ E@yȚ=~4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041162.843165 s, next control iter: 1743041163.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041163.243165 s.(K~,dϢ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074915< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743041163.243289F (some fields omitted in printout)Aףp=ʢ@A/>:@AOf_~? AAW&"AAppvNA"AZAbAjArAzAAA7q08@ANrADb@AJA8x3A6@AٿAҊ?Amnz;*A9?2A@ֽ:A(BA9?JA@ֽRA(9٘i)I9b@Y G J:B=JJJJ,F&K Y^~?ybx=AF777O9B)BE[[&@[H^~?[L[[[[BZYY i) 46I&eE?iB ܚF@))ܚF@ܚF@q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041163.263165 s, next control iter: 1743041163.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743041163.663165 s.(K~,q,AJ"J*J2J:J0?BJ0?nJ85vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14662, header.stamp.nsec: 00 temperature: 13.388567* salinity: 33.391716, density: 1025.000000* values[0]: 0.687821F (some fields omitted in printout)A@AvQ@AW_~? AA&"AAZvNA"AZAbAjArAzAAAm8@AE$TlrA)b@AKA7XAȂ@AڿAgF?Ax;*AƜ9?2Aֽ:A"ABAƜ9?JAֽRA"AYn@@yXLٓH<Ik@?@_?`J% "?y?)n@ I٘i)I9)b@Y G Jz;C=JJJJ-F&KBw> Y]~?y\=A@F7P9B)E[[@[2^~?[E[[[[BZYY ieg=) &ITE?i@ %&H@))%&H@%&H@%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041163.683165 s, next control iter: 1743041164.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041164.083165 s.D(K~,S,AA)\5@AND(@AH_~? AmA\&"AAADvNA"AZAbAjArAzAAA؉17@ABzUgrA hb@A2ȻAwA@AۿA@?AT/<*AD9?2Adֽ:Ar BAD9?JAdֽRAr ٘i)I9hb@Y G J<JJJJ/F&K Yt]~?yU >AF7R9)B[[6@[^~?[h?[[[[BZYY i) IIEE?ie= mH))mHI@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041164.103165 s, next control iter: 1743041164.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041164.503165 s.(K~,P4 ,AJ"J*J2J:J0?BJ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056420< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743041164.503280F (some fields omitted in printout)ARk@AMy^@A89_~? AAY&"AA+-vNA"AZAbAjArAzAAA* 4N7@A7[qrA:b@A^V;AA,@ArPܿA?Afb<*A9?2AAֽ:A8 BA9?JAAֽRA8 ٘i)I9b@Y G JnH<JJJJ0F&K Y-]~?y3OS>AF77bT9B)BE[[@[6^~?[9[[[[BZYY i=) I5E?ic8 F))F>K@X*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743041164.523165 s, next control iter: 1743041164.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14663, header.stamp.nsec: 00 temperature: 13.388530* salinity: 33.391727, density: 1025.000000* values[0]: 0.688113F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041164.923165 s.8(K~,;,AA{G@A >@AS)_~? AA+Z&"AAovNA"AZAbAjArAzAAA{Dw7@A"rA6#c@AĔ1<A7'A@A(ݿA pj?A<*AP9?2Aֽ:AҐ BAP9?JAֽRAҐ ٘i)I9#c@Y= G J%u<JJJJ1F&K Y]~?yH>AF{7Z7-V9)B[[3@[>]~?[2[[[[BZYY i) FYI&E?iȋ2 UE))UEL@y({g=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041164.943165 s, next control iter: 1743041165.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041165.343165 s.<(K~,U,AJ"J*J2J:JBJnJvJAp= ף@Azɣ@A_~? ACA&"AAuNA"AZAbAjArAzAAAJ|E7@AazrAc@AO<AؕA@A:ݿAs?Ad<*A9?2Afֽ:AGZ BA9?JAfֽRAGZ ٘i)I9c@Y G J<JJJJ3F&K Y]~?yMB>AFŧ7b7W9B)BE[[@@[]~?[,[[[[BZYY i) ]ʻIE?i'+ 'C))'CTN@yd=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041165.363165 s, next control iter: 1743041165.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14664&, header.stamp.nsec: 0&0 temperature: 13.388361&* salinity: 33.391743&, density: 1025.000000&* values[0]: 0.688783&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041165.763165 s.7(K~,p,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065866< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743041165.763285F (some fields omitted in printout)A @A~@AL_~? AAO&"AAuNA"AZAbAjArAzAAA7@A#⋕rAd@AA;AnΙA@A`޿A6?A<*A9?2AHֽ:A$ BA9?JAHֽRA$ YB @f@y?͙;ٓH@WӇ??`\L5?@??)B @ I٘i)I9d@Y G J<JXJJJ4F&Kx> Y]]~?y<K?A@FY9B)BE[[B@[]~?['[[[[BZYY i) KI E?iۃ( CB))CBO@D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041165.783165 s, next control iter: 1743041166.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041166.183165 s.(K~,,AJ"J*J2J:Jo0?BJo0?nJ95vJA(\B@A5@A.^~? AA&"AAquNA"AZAbAjArAzAAAZe6@AA9rAd@AA0 A\@AC߿A?AQ<*A[9?2A_^ֽ:A BA[9?JA_^ֽRA ٘i)I9d@Y% G JU<JJJJ5F&K Yv]~?y6?AF777[9)B[[Q @[]~?[a![[[[BZYY i) :kID?im$ @))@dQ@t*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743041166.203165 s, next control iter: 1743041166.583191 s, wait time: 0.380026 s rAdjusting time to match Gazebo time: 1743041166.603165 s.84(K~,,AAQx@A{Gk@A^~? AA]=&"AA;uNA"AZAbAjArAzAAA^6@Ak8urA3e@A#ARA@A`[߿Ac.?A-<*Ax9?2A#ֽ:A`BAx9?JA#ֽRA`٘i)I93e@Y~ G J<JJJJ7F&K Y`]~?y0@AFŧ7b7X]9B)BE[[!P"@[e]~?[[[[[BZYY i) }`ID?icx 2?))2?R@{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041166.623165 s, next control iter: 1743041167.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14665 , header.stamp.nsec: 0 0 temperature: 13.388199 * salinity: 33.391739 , density: 1025.000000 * values[0]: 0.689665 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041167.023165 s.Z(K~, |,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065866< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743041167.023285F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@A s @A^~? A-A&"AAouNA"AZAbAjArAzAAAMs6@AnKrAee@AKSAAj@A|SA ?Aeݵ<*A֯9?2A%ֽ:A~. BA֯9?JA%ֽRA~. ٘i)I9e@Y G J<B=JJJJ8F&K YK]~?y+@AF77"_9B)B޹E[[#@[v]~?[[[[[BZYY i) '$ID?im u=))u=@tT@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041167.043165 s, next control iter: 1743041167.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041167.443165 s.1(K~,%]ܣ,AAq= @AƇ֤@A^~? AnzAW"&"AAzuNA"AZAbAjArAzAAA1W<6@ApvrA df@A6AkA: @A`AA?A-<*A<9?2Abֽ:A' BA<9?JAbֽRA' ٘i)I9df@Y8 G Jʵ<C=JJJJ9F&K Y\6]~?yR%@AF77{7`9)B[[T%@[]]~?[[[[[BZYY i) 9ϺID?i` X%<))X%<]U@y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041167.463165 s, next control iter: 1743041167.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14666, header.stamp.nsec: 00 temperature: 13.388000* salinity: 33.391735, density: 1025.000000* values[0]: 0.690690F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041167.863165 s.+(K~,>,AJ"J*J2J:J0?BJ0?nJg95vJA@Al @Aۮ^~? AtA{&"AA^uNA"AZAbAjArAzAAA^R6@A(LrAf@A|A4A!@A`*A-?Ak<*As9?2Aֽ:AuBAs9?JAֽRAuY@֓!@y3}ٓH\``? ]v? ve`?}O@b?)@ I٘i)I9f@Y G J?<J:JJJ;F&Kx> YS]~?y: OAA!@F77b9 B)B۹E[[p&@[ D]~?[ [[[[BZYY i) hX-ID?iZ ߠ:))ߠ:~W@|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041167.903165 s, next control iter: 1743041168.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041168.283165 s.7R)K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065866< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743041168.283304F (some fields omitted in printout)A(\O@APB@A֛^~? AKoAM&"AAAuNA"AZAbAjArAzAAAhK"5@A&mrAg@Aw4<A6ѕA"@A`UA?A<*AY9?2A׽:ANBAY9?JA׽RAN٘i)I9g@Y G JI<JJJJ<F&K YM]~?y#AAF7d9"B)BعE[[ZZ(@[A*]~?[B[[[[BZYY i) l/9ID?iRi 9))9Y@:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041168.303165 s, next control iter: 1743041168.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 146672, header.stamp.nsec: 020 temperature: 13.3877582* salinity: 33.3917542, density: 1025.0000002* values[0]: 0.6917172F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041168.703165 s.Ӻ )K~,-,AJ"J*J2J:JBJnJvJAQ@A x@At^~? AiAh&"AA~$uNA"AZAbAjArAzAAAS1^5@A^lirA%h@AԌQ<A~A>$@A FA`?A<*A޿9?2A׽:A,BA޿9?JA׽RA,٘i)I9h@Y@ G J%<B=JJJJ>F&K YA\~?y BAF7Mf9)B[[)@[9]~?[[[[[BZYY i) l_:ID?iHN 7))7 Z@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041168.723165 s, next control iter: 1743041169.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743041169.123165 s.:)K~,iG,AAGấ@A֭@At^~? AdA&"AAuNA"AZAbAjArAzAAA܉S5@A ݬ3rAch@A2<AKA %@A 0A05?Aa<*A 9?2Aֽ:A BA 9?JAֽRA ٘i)I9h@Y G JH<C=JJJJ?F&K Y<\~?yBAF77h9$B)߯BչE[[,X+@[\~?[[[[[BZYY i) * ;IͩD?i<g 6))6 \@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041169.163165 s, next control iter: 1743041169.523181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743041169.543165 s.I)K~,b,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065866< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743041169.543326F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@AfO@A`^~? A_Ax6&"AAtNA"AZAbAjArAzAAA[5@A rAH%i@Ad#U;A)A&@AEAy?A}<*A9?2Aֽ:ABA9?JAֽRA٘i)I9%i@Y G J<JJJJ@F&K Y3\~?y BAFŧ7ŧ7i9'B)ޯBѹE[[C,@[\~?[[[[[BZYY i) 0F;IhD?i."߻ -4))-4]@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041169.583165 s, next control iter: 1743041169.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14668, header.stamp.nsec: 00 temperature: 13.387569* salinity: 33.391754, density: 1025.000000* values[0]: 0.692667F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041169.963165 s.w)K~,},AAffff&@A Z@A>L^~? AZA&"AAtNA"AZAbAjArAzAAA=4@A![.rAi@A-LƻA1A`(@AԐAU?A\<*A9?2Adֽ:AqBA9?JAdֽRAqY@7(@yƻٓH߿8?u? ?{xp?)@ I٘i)I9i@Y7G Jq<JDU<JJJBF&K2x> Y\~?yFCA(@F777k9(B)ۯBιE[[P.@[\~?[[[[[BZYY i.=) F-;IiD?if'Eֻ  3)) 3 _@/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041169.983165 s, next control iter: 1743041170.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041170.383165 s.J "J *J 2J :J p1?BJ p1?nJ :5vJ %)K~,,AA(\@AzO@A7^~? AUA`&"AAtNA"AZAbAjArAzAAA |&4@A,arA+2j@AGA͊A elevatorAngleAction: 0.074677< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743041170.803288F (some fields omitted in printout)A둦@AL@Ay"^~? APAX&"AAMtNA"AZAbAjArAzAAAGh+Z4@AI !rAj@AAAj An*@A"A6?A1<*A[9?2A,iֽ:AHBA[9?JA,iֽRAH٘i)I9j@YG J<JJJJDF&K Ywy\~?yDAFŧ7b7Bo9)B)ӯB˹E[[G1@[\~?[[[[[BZYY i) 9;ID?is໻ 0))0 b@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041170.843165 s, next control iter: 1743041171.203179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743041171.223165 s.g3)K~,HΤ,AJ"J*J2J:J1?BJ1?nJN:5vJAzǦ@A8~@A ^~? A@LA!&"AA3ktNA"AZAbAjArAzAAAnp4@AOrA2k@A:VADAr+@A@dhAOl?A\<*A9?2Aֽ:ABA9?JAֽRA٘i)I92k@Y%G Jߔ<B=JJJJFF&K Y`\~?ybDAF77{7 q9*B)ѯBȹE[[2@[o\~?[[[[[BZYY i) 9;ID?ie骻 .)).c@yBט=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041171.263165 s, next control iter: 1743041171.623189 s, wait time: 0.360024 s rAdjusting time to match Gazebo time: 1743041171.643165 s.z9)K~,*,AA ףp@AjN^d@Ay]~? AGA &"AAJtNA"AZAbAjArAzAAA"33@AJ'rAk@Ab;AdAYR-@AA?A_<*A9?2Aeֽ:AQBA9?JAeֽRAQ٘i)I9k@YmG J<C=JJJJGF&K YNH\~?y)DAF{7r9,B)ϯBŹE[[34@[T\~?[[[[[BZYY i) C;I{yD?i쾉>} -))-e@*YtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14670, header.stamp.nsec: 00 temperature: 13.387201* salinity: 33.391766, density: 1025.000000* values[0]: 0.694476FF (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743041171.663165 s, next control iter: 1743041172.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041172.063165 s.@)K~,R ,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074677< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743041172.063301F (some fields omitted in printout)A33333@AD)&@A]~? AnCAGc&"AA)tNA"AZAbAjArAzAAAoF3@Aq1frA2l@AZ8<A\Aç.@A@A?A!<*AL9?2A'׽:A(BAL9?JA'׽RA(YC @f.@ykZz8<ٓH@.=~ٿ?ް?@p? P@d(???)C @ I٘i)I9l@YG J<JF;JJJHF&K1x> Yn.\~?yEA.@Fj7j7t9-B)ͯB¹E[[5@[99\~?[[[[[BZYY i) Q elevatorAngleAction: 0.074677< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743041173.323272F (some fields omitted in printout)AGzԧ@A.oǧ@A]~? AA7AU&"AAsNA"AZAbAjArAzAAAA=O2@AIErA|m@AWAA2@A@AT?A⤓<*A˼9?2A ֽ:AjBA˼9?JA ֽRAj٘i)I9|m@YG J܏<JJJJLF&K Y[~?y2FAF77z91B)ůBE[[q:@[g[~?[[[[[BZYY i) ]< Y[~?yFA5@F77{7}94B)BE[[%<@[[~?[ݧ[[[[BZYY i) [ elevatorAngleAction: 0.074677< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743041174.583279F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@A'h@AZX]~? A_,A. &"AAZsNA"AZAbAjArAzAAAI\1@A <|rAo@Am A3A-a6@A IA`?A<*A}9?2A_ֽ:AX BA}9?JA_ֽRAX I٘i)I9o@YwG J<JJJJPF&K Y/[~?yߧSGAFb77c9)B[[Q>@[)[~?[pۧ[[[[BZYY i-|=) -j elevatorAngleAction: 0.083733< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743041175.843304F (some fields omitted in printout)Ap= @A7 @A]~? A"A &"AArNA"AZAbAjArAzAAAmN1@AwCwrA p@AE,Q<A.Ad:@A@NA`W?A<*A9?2A%׽:A BA9?JA%׽RA ٘i)I9p@YfG J<JJJJTF&K Y@[~?y֧zHAF77{7Ä98B)BE[[B@[:@[~?[ק[[[[BZYY i) DhAD;@A`$A@9?AП<*A9?2Aֽ:A{sBA9?JAֽRA{sY*-@L;@y<D,*<ٓH4ʿ??@*M:lw@?5??)*-@ I٘i)I9 q@YG J<J:JJJVF&Kx> Y$[~?y#էHA;@Fb7799B)BE[[C@[j$[~?[%ק[[[[BZYY i) 0 elevatorAngleAction: 0.083733< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199142 time: 1743041177.103285F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AlF@A.\~? AA֑!&"AArNA"AZAbAjArAzAAA˪6=0@AAPZrrA&r@A]ܻAh~A2>@ARA`?AѰ<*A9?2A#Bֽ:AWBA9?JA#BֽRAW٘i)I9&r@YaG Jܫ<JJJJXF&K YZ~?yxѧIAFŧ7ŧ7#9޽: #))#w@;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041177.123165 s, next control iter: 1743041177.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041177.523165 s.)K~,|a,AAHz@Aڮ@A]\~? AFA!&"AAxZrNA"AZAbAjArAzAAA~/@A5NprARr@APKA+Ax?@AvA?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9r@YG JB<JJJJZF&K YZ~?yϧJAF779)BE[[(H@[Z~?[է[[[[BZYY i)  p>; ))iy@*YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743041177.543165 s, next control iter: 1743041177.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14676, header.stamp.nsec: 00 temperature: 13.386155* salinity: 33.391735, density: 1025.000000* values[0]: 0.699833F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041177.943165 s.J "J *J 2J :J (3?BJ (3?nJ ;5vJ [d)K~,O]|,AAq= #@AN@Af\~? AA9!&"AA4rNA"AZAbAjArAzAAAPL/@A 5orAZs@AV>ADpAB@@A.A;?AEP<*A9?2AcAֽ:ABA9?JAcAֽRA٘i)I9Zs@YG J=<JJJJ[F&K Y{Z~?yͧJAF9>B)BE[[I@[Z~?[է[[[[BZYY i) OGJ; I))Iz@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041177.963165 s, next control iter: 1743041178.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041178.363165 s.)K~,>,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083733< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200942 time: 1743041178.363387F (some fields omitted in printout)AY@ADL@AK|\~? AA"&"AArNA"AZAbAjArAzAAA5עY.@ArmrAs@A)ȚAZiAEB@AA_?AXν<*A9?2Aֽ:ABA9?JAֽRAY4@$B@yhPٓHTO`??@M苿&?`Ys?)4@ I٘i)I9s@Y}G J;<B=JzJJJ\F&Kx> YlZ~?y̧JA$B@F9?B)BE[[J@[HZ~?[֧[[[[BZYY i) G!e; ))@|@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041178.383165 s, next control iter: 1743041178.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14677&, header.stamp.nsec: 0&0 temperature: 13.385934&* salinity: 33.391739&, density: 1025.000000&* values[0]: 0.700949&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041178.783165 s.[)K~,,AJ"J*J2J:JBJnJvJA(\@A!Q@Ac\~? AACB"&"AAqNA"AZAbAjArAzAAAckQ.@ApUlrAt@Aӡ;ACAxC@AA?A3<*A9?2Aֽ:AqBA9?JAֽRAq٘i)I9t@YG J,<C=JJJJ^F&K Y_~Z~?y˧iKAF7{7N9@B)BE[[LL@[Z~?[g֧[[[[BZYY i) W0#; gt))gtN}@H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041178.803165 s, next control iter: 1743041179.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041179.203165 s.)K~,ͦ,AAQŪ@AcD@AI\~? A8Af"&"AA[qNA"AZAbAjArAzAAADu-@AkrA9u@A7<<AAD@A A{?A<*A 9?2A׽:AiBA 9?JA׽RAi٘i)I99u@Y@G Jվ<JJJJ_F&K YSbZ~?yʧKAFb779AB)BE[[)M@[eZ~?[֧[[[[BZYY i) ; # ))# @*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743041179.223165 s, next control iter: 1743041179.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743041179.623165 s.X)K~,a,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: 0.083733< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743041179.623318F (some fields omitted in printout)AG@A@A;0\~? AA"&"AA؛qNA"AZAbAjArAzAAA/,@AǦ%jrA u@ANJ<A-⮽A F@AAV?ANo<*A9?2Aֽ:ABA9?JAֽRA٘i)I9u@YG J%<JJJJ`F&K YDFZ~?yʧMLAFŧ7b79BB)BE[[O@[YJZ~?[ק[[[[BZYY i) MF@7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041179.663165 s, next control iter: 1743041180.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14678 , header.stamp.nsec: 0 0 temperature: 13.385707 * salinity: 33.391724 , density: 1025.000000 * values[0]: 0.702112 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041180.043165 s.)K~,,AA= ף0@A#@A\~? A) A"&"AA.uqNA"AZAbAjArAzAAAt[L,@A irAmv@Aj;AyA&cG@A@A`?A<*At9?2Aֽ:AbBAt9?JAֽRAb٘i)I9v@YG J<JJJJbF&K Y9*Z~?yɧLAF79CB)BE[[_P@[/Z~?[xا[[[[BZYY i5=)  YZ~?yɧ6MAH@F77x9DB)BE[[Q@[<Z~?[٧[[[[BZYY i)  elevatorAngleAction: 0.092783< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743041180.883319F (some fields omitted in printout)A(@A O@AG[~? A AT"&"AAq'qNA"AZAbAjArAzAAA~+@AN$RThrA w@A_*AAv:HA?AD?AD<*A@9?2A ֽ:ABA@9?JA ֽRA٘i)I9w@YG J@<JJJ^FJdF&K YY~?yȧMAFb7C9)B[[4S@[Y~?[ڧ[[[[ZZZZ¸>BZYY i¸><) ?=w;  )) @y= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041181.323165 s, next control iter: 1743041181.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14680*, header.stamp.nsec: 0*0 temperature: 13.385181** salinity: 33.391701*, density: 1025.000000** values[0]: 0.704592*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041181.723165 s.)K~,Hn,AAz@A2@A[~? AA^"&"AAHpNA"AZAbAjArAzAAA}M\)@A+~?grA2Zy@A\{ AAEAVA@?A<*A-9?2A2Nֽ:ABA-9?JA2NֽRA٘i)I9Zy@YG J<B=JJJJgF&K YcY~?yȧNAF{7{7؝9FB){BE[[(U@[Y~?[ݧ[[[[ZZZZBZYY i) չ)@A$UfrA5z@A9A_A DDA`_A ?A^Q<*Ai9?2Aߒֽ:AGBAi9?JAߒֽRAG٘i)I95z@YHG JO=C=JJJJiF&K Y/Y~?yȧOAF7ŧ79)uBE[[FW@[IY~?[Rߧ[[[[ZZZZBZYY i) z֭(@AӗfrA{@A9<AuAIBA]gA?A<*Aw9?2Aֽ:AdBAw9?JAֽRAdY"A@Byu <ٓH7h|? ?`L ֎?`Ư?48?`?)"A@ I٘i)I9{@YG Jb<J=JJJjF&Kw> Y Y~?yɧeOABFSI7SI7n9GB)oBE[[kX@[Y~?[2[[[[ZZZZBZYY i) JJJqF&K4x> YX~?yΧPAs< F{7c9)XBtE[[^@[:Y~?[[[[[ZZZZBZYY i_s) 5X5vJAR@Ayޭ@A+Z~? A# A #&"AA{woNA"AZAbAjArAzAAA7S$@Ac,>YgrA }@AAP8=AE9AXA@ASm*A9?2A-]ֽ:A<BA9?JA-]ֽRA<٘i)I9}@Y]G J JJJJsF&K Y;X~?y&ҧ[PA F7779)oE[[a@[X~?[[[[[BZYY i) p4^_grAPx}@Aͬ;Aߥ]=Aɕ8AgLA\jA96*Aa9?2Aeֽ:A3=BAa9?JAeֽRA3=٘i)I9x}@YEG JgJJJJuF&K YxX~?yӧ?PA F77{7ï9)XBlE[[ b@[X~?[[[[[BZYY i) ֶ"5vJAp= W@AEJ@AZ~? A Ay"&"AA!)oNA"AZAbAjArAzAAAT#@AHxhrA4}@AE<A{=AP7A=A)AA*Aυ9?2Aս:A8G =BAυ9?JAսRA8G =٘i)I94}@YG Jg JJJJvF&K YX~?yէ#PAFj7Z79)[BiE[[D+d@[}X~?[[[[[BZYY i) $p< `))`7@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041186.363165 s, next control iter: 1743041186.743177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14685&, header.stamp.nsec: 0&0 temperature: 13.384454&* salinity: 33.391659&, density: 1025.000000&* values[0]: 0.708551&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041186.763165 s.>+*K~,<ذ,AǍ@A+P@AxZ~? A! A"&"AAoNA"AZAbAjArAzAAASf@~"@Alh-irA|@A$O<A=A6A ,A@AAr*A9?2Aս:A=BA9?JAսRA=Yl#N@)5yܠ=zO<ٓH3`? aҿK@J 0`??)l#N@ I٘i)I9|@YG JXJ7=JJJwF&K9w> YjX~?y1اOA5F777Y9)^BfE[[Uue@[bX~?[[[[[BZYY iGi) 5vJAHz.@A0F$ !@A,,Z~? AAŃ"&"AAnNA"AZAbAjArAzAAA>@ @A7FkrAOl{@A D.A=A 2A A`$ĿA*A 9?2Aֽ:A =BA 9?JAֽRA =٘i)I9l{@YG JJJJJ{F&K YX~?yߧNAF779)iB`E[[Gi@[D^X~?[[[[[BZYY i) 3;IE?i?.< s)))s)~ō@yi֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041188.063165 s, next control iter: 1743041188.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743041188.443165 s.6F*K~,:],AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057015< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743041188.443270F (some fields omitted in printout)Aq= c@A)V@AZ~? AdA%b"&"AA:gnNA"AZAbAjArAzAAA weN @APmrAz@ASA=A0AA`ƿA㪼*Ag9?2Aֽ:A(=BAg9?JAֽRA(=٘i)I9z@YG J~JJJJ}F&K YW~?yUNAFZ7Z79)mB]E[[j@[HX~?[ [[[[BZYY ij) ;IE?i ?< ))꿩e@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041188.463165 s, next control iter: 1743041188.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14687, header.stamp.nsec: 00 temperature: 13.384864* salinity: 33.391659, density: 1025.000000* values[0]: 0.706926F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041188.863165 s.+M*K~,>7,AJ"J*J2J:J4?BJ4?nJ=5vJA@A@AY~? A\Ab="&"AA@nNA"AZAbAjArAzAAA g@A3%3nrAqMz@A A=A\h/A vA@ǿA*Aͥ9?2Aֽ:Aql=BAͥ9?JAֽRAql=YT@r/yC=r ٓHb ?H`ؿ [v=)5zsA?)T@ I٘i)I9Mz@YWG JJ<JJJ~F&K&x> YW~?yMAr/F77j7N9)qBZE[[#k@['3X~?[[[[[BZYY i)  P;IE?i?ש< 7))7迩 @֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041188.883165 s, next control iter: 1743041189.263180 s, wait time: 0.380015 s"W~?)" rAdjusting time to match Gazebo time: 1743041189.283165 s.7RT*K~,R,AA(\ϯ@AcAaP¯@AY~? A}A"&"AAnNA"AZAbAjArAzAAAy @A}+6orA0y@A:A =A%&.AϐA6ɿAxV*A9?2A:bֽ:A(=BA9?JA:bֽRA(=٘i)I9y@YG JJJJJF&K YW~?yiMAF{7{79)vBWE[[m@[X~?[[[[[BZYY i) r;I)F?i;?Bԗ< s))s忩>@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041189.303165 s, next control iter: 1743041189.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14688., header.stamp.nsec: 0.0 temperature: 13.385124.* salinity: 33.391655., density: 1025.000000.* values[0]: 0.705849.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041189.703165 s.պZ*K~, m,AJ"J*J2J:J4?BJ4?nJy=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066375< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743041189.703272F (some fields omitted in printout)AQ@AUka@AY~? AA!&"AAmNA"AZAbAjArAzAAAJ<=@AoprA!y@A\<AЈ=A5,A`nAA˿A*As9?2A *ֽ:A]d=BAs9?JA *ֽRA]d=٘i)I9!y@YG JײJJJJF&K YW~?yMAFj79){B[[Nn@[3 X~?[[[[[BZYY i) :IvF?i?< ))㿩rI@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041189.723165 s, next control iter: 1743041190.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041190.123165 s.7a*K~,]⇩,AAG:@A-@AҮY~? A6A!&"AA.mNA"AZAbAjArAzAAAk@A HbrrABx@AS<Ag=A+A`JAOͿAk*A9?2A(ֽ:A7=BA9?JA(ֽRA7=٘i)I9x@YFG J7JJJJF&K YW~?yELAF)7ŧ79CB)BUE[[o@[W~?[ [[[[BZYY i) .9I8F?i?< ))࿩s@y ⇽̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041190.143165 s, next control iter: 1743041190.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041190.543165 s.Ih*K~,â,AJ"J*J2J:J4?BJ4?nJT=5vJA= ףp@A҈c@A1Y~? AA!&"AAmNA"AZAbAjArAzAAA¨N@@Ac@srA w@Aт"<A걑=AH*A@#AϿAb*AX9?2Aa`ֽ:Aݗ=BAX9?JAa`ֽRAݗ=I٘i)I9w@YG J JJJJF&K Y|W~?yILAF777y9)BRE[[p@[W~?[f[[[[BZYY i) MITF?i@f~< o&޿))o&޿?@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041190.563165 s, next control iter: 1743041190.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14689, header.stamp.nsec: 00 temperature: 13.385421* salinity: 33.391636, density: 1025.000000* values[0]: 0.704788F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041190.963165 s.{n*K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066375< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743041190.963297F (some fields omitted in printout)Affff@A[@A}Y~? A AW!&"AAmNA"AZAbAjArAzAAAGZbu@AurAmw@A|S:AЎ=Ah(A@;AwпA*A9?2Aִֽ:A<BA9?JAִֽRA YcW~?yKA(F7C9)BOE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #94q/^^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) )ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041190.983165 s, next control iter: 1743041191.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041191.383165 s.u*K~,+ة,AJ"J*J2J:JBJnJvJA(ܰ@A9Gϰ@AyeY~? Av#An !&"AA_mNA"AZAbAjArAzAAAQ2,@A\kwrAv@A2A"S=A'A@A^ѿA-Ù*A9?2Aֽ:AJ<BA9?JAֽRAJ<٘i)I9v@YFG J[JJJJF&K Y,KW~?y,KAF779)BLE[[Es@[W~?[([[[[BZYY i) XI/rF?i@)< C-ٿ)) C-ٿĒ@gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041191.403165 s, next control iter: 1743041191.783178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14690&, header.stamp.nsec: 0&0 temperature: 13.385666&* salinity: 33.391624&, density: 1025.000000&* values[0]: 0.703773&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041191.803165 s.vA|*K~,wg,AA@A uX@AnMY~? A&Aw &"AA:mNA"AZAbAjArAzAAA5`@AqPyrAZiv@ASkVA?=A&AaA ҿA*AӉ:?2A ½:Ad<BAӉ:?JA ½RAd<٘i)I9iv@YG JʗJJJJF&K Yi2W~?yi*KAF9)B[[t@[jW~?[@-[[[[BZYY i) :XI]F?iT @< (׿))OֿGb@pYFFF]Waiting for Gazebo time sync: latest Gz time: 1743041191.823165 s, next control iter: 1743041192.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041192.223165 s.g*K~,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: -0.066375< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743041192.223334F (some fields omitted in printout)AzG@A}:@A5Y~? A)A &"AAmNA"AZAbAjArAzAAA@AL{rAeu@AyCA0=A%A uA -ӿA*AO:?2Aý:Am<BAO:?JAýRAm<٘i)I9u@YG JJJJJF&K YW~?yJA!Fb79BB)BIE[[u@[W~?[ 2[[[[BZYY i) e.IdF?iN@< CԿ))CԿ@Yk YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041192.243165 s, next control iter: 1743041192.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041192.643165 s.yЉ*K~,*),AA ףp}@AYdp@AY~? A*-Ag &"AAmlNA"AZAbAjArAzAAAM@AX}rA6su@AA/=A$A`^AӿA*A?:?2AŽ:Az<BA?:?JAŽRAz<٘i)I9su@YcG J{JJJJF&K YW~?yjJA"F{7j7n9)BFE[[v@[W~?[6[[[[BZYY i) EIZF?i@uO< ѿ))ѿc@Y`YFFF]~:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14691, header.stamp.nsec: 00 temperature: 13.385900* salinity: 33.391617, density: 1025.000000* values[0]: 0.702844Waiting for Gazebo time sync: latest Gz time: 1743041192.663165 s, next control iter: 1743041193.043178 s, wait time: 0.380013 sF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041193.063165 s.*K~,k D,AJ"J*J2J:J3?BJ3?nJ<5vJA3333@A'@A.Y~? A0A% &"AAylNA"AZAbAjArAzAAA4n@AtrAt@A;A=Av#A?6A}{ԿAؒ*A:?2AȽ:A^<BA:?JAȽRA^ YNV~?y JA##Fŧ7b799)BCE[[Q*x@[poW~?[;[[[[BZYY i뛞) B#ɻIF?i@;< bϿ))bϿ$7@]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041193.103165 s, next control iter: 1743041193.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041193.483165 s.u_*K~,^,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077446< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743041193.483288F (some fields omitted in printout)A\@A8j۱@AX~? A54Aq&"AA˪lNA"AZAbAjArAzAAAA(X3R@A^rA}t@AQ<Aۺ=Ay"A` A7տA*A:?2Aʽ:A<BA:?JAʽRA<٘i)I9}t@YG JJJJJF&K YV~?yIA%Fb779)BDE[[ay@[]W~?[@[[[[BZYY i) SI^G?i6@٫< ̿))̿ҕ@$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041193.523165 s, next control iter: 1743041193.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14692, header.stamp.nsec: 00 temperature: 13.386105* salinity: 33.391617, density: 1025.000000* values[0]: 0.701984F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041193.903165 s.ȝ*K~,y,AJ"J*J2J:JBJnJvJAQ@A6l@AX~? A7A&"AAklNA"AZAbAjArAzAAAn3o 9@A$%rAlt@AKX<AZ=AC!AAOտA>*A:?2Aiͽ:A=BA:?JAiͽRA=٘i)I9t@YG JŐB=JJJJF&K Y#V~?yp[IA&F{7{79)BAE[[|z@[LW~?[%F[[[[BZYY i) MI3G?i@< ʿ))ʿm@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041193.923165 s, next control iter: 1743041194.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041194.323165 s.*K~,d,AAGzT@A*dqG@AX~? A;AP&"AAadlNA"AZAbAjArAzAAANQ"@AmArAʍs@AMJ;A@=AAޟAֿA%*A:?2AϽ:A=BA:?JAϽRA=٘i)I9s@Y;G JC=JJJJF&K YV~?yJIA'F7b79AB)B>E[[{@[;W~?[\K[[[[BZYY i) [IVG?iX#@< !ȿ))!ȿ[@yR{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041194.343165 s, next control iter: 1743041194.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14693*, header.stamp.nsec: 0*0 temperature: 13.386314** salinity: 33.391617*, density: 1025.000000** values[0]: 0.701119*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041194.743165 s.W*K~,y,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077446< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743041194.743280F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=@A$P2}@AԩX~? A?A&"AAAlNA"AZAbAjArAzAAAwX"@AGrAs@AXAŇ=A>A"eA׿A1ㅼ*A:?2A~ҽ:Ag=BA:?JA~ҽRAg=٘i)I9s@YG JJJJJF&K YV~?y#!HA)F7d9)B;E[[|@[c+W~?[P[[[[BZYY i) "IzG?i(@ < Oſ))Oſǟ@ǺYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041194.763165 s, next control iter: 1743041195.143181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743041195.163165 s.q}*K~,qʪ,AA@AU@AZX~? ACA&"AAllNA"AZAbAjArAzAAA>A @A45rAr@A =ApC=A/A.'A@gؿAĄ*A^z:?2Aӽ:A M=BA^z:?JAӽRA M=Y0f@e<yA=xx=ٓHB?@1mD `?)0f@ I٘i)I9r@YG JJ;JJJF&Kw> YuV~?y&IHA<*F7777.9)B[[/~@[+W~?[V[[[[BZYY i) >t2IG?i*@W< Wÿ))Wÿ9@%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041195.183165 s, next control iter: 1743041195.563174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743041195.583165 s.*K~,R,AJ"J*J2J:Jb3?BJb3?nJ<5vJA)\@Avmo@A&}X~? A#HAc&"AAkNA"AZAbAjArAzAAA2t @A !YύrA;r@AP_A/V=AAA g5ٿA٭*A,o:?2A)Խ:AdY=BA,o:?JA)ԽRAdY=٘i)I9;r@YnG JJJJJF&K Y7_V~?yH,GA+FSI7SI79@B)B8E[[b@[^ W~?[[[[[[BZYY i) AI G?i7.@E< K))KHӘ@TªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041195.603165 s, next control iter: 1743041195.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14694, header.stamp.nsec: 00 temperature: 13.386549* salinity: 33.391617, density: 1025.000000* values[0]: 0.700320F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041196.003165 s.x *K~,L4,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077446< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743041196.003280F (some fields omitted in printout)AR+@Ad:tz@A;gX~? ALAi&"AAkNA"AZAbAjArAzAAAr7*@AvrAq@A AЧ=A?A:A`ٿA~*Ad:?2AOս:Am=BAd:?JAOսRAm=٘i)I9q@Y'G JIJJJJF&K YTIV~?y1GA-F)7ŧ79)B6E[[I@[V~?[a[[[[BZYY i) (uQIPG?i1@< ))k@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041196.023165 s, next control iter: 1743041196.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041196.423165 s.u*K~,,AJ"J*J2J:JBJnJvJA{Ga@A;T@AQX~? AQAK&"AAkNA"AZAbAjArAzAAAy?@AM$CrALq@A%:AI=ACA_AڿA}*AZ:?2Aս:A+ =BAZ:?JAսRA+ =٘i)I9Lq@YG JQJJJJF&K Yt3V~?yl73GA.F7779)B[[ @[ V~?[f[[[[BZYY i) =`IrH?i6@p< K3))K3@R˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041196.463165 s, next control iter: 1743041196.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14695, header.stamp.nsec: 00 temperature: 13.386738* salinity: 33.391598, density: 1025.000000* values[0]: 0.699512F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041196.843165 s.*K~,5,AAp= @A\sG@AF&"AAdzkNA"AZAbAjArAzAAAS0@AVi rAUAp@A54d<A=A AA UNܿA *AI:?2Aֽ:A=BAI:?JAֽRA=Yzm@ y=d<ٓH@ݩ?\=; l J?U?)zm@ I٘i)I9Ap@Y9G JJ<JJJF&K{> Y V~?y*AB:?2Aֽ:A=BAB:?JAֽRA=٘i)I9o@YG JJJJJF&K YU~?yzIFA2FZ7SI790B)B[[3@[WV~?[w[[[[BZYY i) SIH?i=@@< )).ț@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041197.683165 s, next control iter: 1743041198.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743041198.103165 s.*K~,,AJ"J*J2J:JBJnJvJAQ8@A ;I+@A1W~? AdAA&"AA;kNA"AZAbAjArAzAAA!?AI %rA&o@AƼ:Ap=AQA6ASݿA|*A;:?2A׽:Ah=BA;:?JA׽RAh=٘i)I9&o@YG JJJJJF&K YU~?yOEA3F779/B)B,E[[y<@[ܴV~?[}[[[[BZYY i) h⎼IH?iC@< Ų))Ųt^@ZתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041198.143165 s, next control iter: 1743041198.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743041198.523165 s.*K~,{,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077446< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743041198.523276F (some fields omitted in printout)AHzn@Aq a@A,W~? AiA&"AAkNA"AZAbAjArAzAAAgI?AqPrAin@AAA@~޿A *A;5:?2A|׽:A=BA;5:?JA|׽RA=٘i)I9n@Y7G JfJJJJF&K YU~?yU;EA5F77{790B)B*E[[у@[ѧV~?[[[[[BZYY ih) pnIH?iG@rn< p))p@t٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041198.543165 s, next control iter: 1743041198.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14697, header.stamp.nsec: 00 temperature: 13.387226* salinity: 33.391586, density: 1025.000000* values[0]: 0.697615F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041198.943165 s.Xd*K~,B],AJ"J*J2J:JBJnJvJAq= ף@AUQʖ@AW~? A oAhw&"AAjNA"AZAbAjArAzAAAͬ"/?A>AގrA n@At_Aߩ=A*MA wA`I߿A_c*A'/:?2A׽:A' =BA'/:?JA׽RA' =٘i)I9 n@YG JJJJJF&K YU~?y3\DA6F77N9)B[[e@[4V~?[[[[[BZYY i) ׫,AAٴ@AD̴@A0W~? A{tA{&"AAZjNA"AZAbAjArAzAAAɗsOa?A rA3}m@AaAA=AA@A@߿AF*A$:?2A׽:Au=BA$:?JA׽RAu=Y t@yڑ=AٓH 0O?@x$ @,G# ?) t@ I٘i)I9}m@YG JB=J!<JJJF&Ky> YCU~?y cgDA7F79/B)ïB'E[[@[ЎV~?[Ǐ[[[[BZYY i) kII?iW~? A zA3&"AAWjNA"AZAbAjArAzAAA%K?AjErACl@AuA=AA@aAVA`*A:?2A&׽:A^=BA:?JA&׽RA^=٘i)I9l@Y1G JC=JJJJF&K YU~?yiCA9F{7j79)ȯB[[ې@[ւV~?[敨[[[[BZYY i) ۬IiQ@= t))tֲ@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041199.823165 s, next control iter: 1743041200.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041200.203165 s.+K~, ,AAQE@A 8@AW~? AA5&"AAjNA"AZAbAjArAzAAA;E?AbŃrA)Sl@A;AΦ=A{ AAA*A`:?2Aֽ:A=BA`:?JAֽRA=٘i)I9Sl@YG J$JJJJF&K YÄU~?ypCA:F777790B)ͯB%E[[%@[IwV~?[[[[[BZYY i) JIiJT@{=  #)) #G@8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041200.223165 s, next control iter: 1743041200.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743041200.623165 s.] +K~,v',AJ"J*J2J:J2?BJ2?nJ:5vJAGz@Am@AuW~? AA&"AAjNA"AZAbAjArAzAAA?A[PErAk@AU<A(_=Ac6 A`>AA*A_:?2Abֽ:A`=BA_:?JAbֽRA`=٘i)I9k@YtG JӼJJJJF&K YsU~?yw"CA<F{7{7y9)үB[[@['lV~?[>[[[[BZYY i) -IiW@+ = ?դ))?դڟ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041200.663165 s, next control iter: 1743041201.023184 s, wait time: 0.360019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14699, header.stamp.nsec: 00 temperature: 13.387717* salinity: 33.391556, density: 1025.000000* values[0]: 0.695589F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041201.043165 s.+K~,B,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086945< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743041201.043279F (some fields omitted in printout)A= ף@AQԙ@AyW~? AhAS&"AApjNA"AZAbAjArAzAAA`zR?AK߶rAk@AqKT<A=A A߿ARAEļ*A9?2AXֽ:A'=BA9?JAXֽRA'=٘i)I9k@YG J¼JJJJF&K YAaU~?yi~BA=F7D9/B)ׯB"E[[K@[qaV~?[s[[[[BZYY i) '*üIi[@ = #))#m@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743041201.063165 s, next control iter: 1743041201.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041201.463165 s.Y+K~,],AJ"J*J2J:JBJnJvJAffff@AW\ٵ@A7hW~? AlA&"AAUjNA"AZAbAjArAzAAAGDp ԦA rAjj@A;Aޭ=A A߿A ؤA:Ƽ*A9?2A׽:A:a=BA9?JA׽RA:a=Ykz@* yݭ=;ٓHlv?X4R`x?X?)kz@ I٘i)I9jj@YG JżJ8j<JJJF&Kx> YQU~?yDžABA >F779)ܯB[[އ@[WV~?[Ʈ[[[[BZYY i) oʼIi^@= ;));@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743041201.483165 s, next control iter: 1743041201.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14700, header.stamp.nsec: 00 temperature: 13.388002* salinity: 33.391541, density: 1025.000000* values[0]: 0.694454F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041201.883165 s.y+K~,Mx,AA(@AU@A2WW~? AA%i&"AA;jNA"AZAbAjArAzAAA~ ಁϿA# 6GrA-i@A总Av=A3A S޿AbAgƼ*AU9?2Arn׽:A=BAU9?JArn׽RA=٘i)I9i@YFG JƼJJJJF&K YmBU~?y%AA@Fŧ7b79)BE[[,r@[LV~?[![[[[BZYY i) ѼIi`@ = ))'@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743041201.923165 s, next control iter: 1743041202.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041202.303165 s.W$+K~,{g,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086945< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743041202.303283F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AJ?D@AFW~? AŝA&"AAN"jNA"AZAbAjArAzAAAcVܿAMrAi@ABAA=AAPݿA CAȼ*A9?2A(׽:Ap=BA9?JA(׽RAp=٘i)I9i@Y G J-ǼJJJJF&K Y3U~?yWAAAF7)790B)B E[[@[XCV~?[[[[[BZYY i) ؼIic@ = ))&@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743041202.323165 s, next control iter: 1743041202.703179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14701., header.stamp.nsec: 0.0 temperature: 13.388267.* salinity: 33.391552., density: 1025.000000.* values[0]: 0.693291.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041202.723165 s.++K~,H,AAz@AH7¢z@Ag6W~? AAv&"AAo jNA"AZAbAjArAzAAA8uMA19rAbsh@A\^Af=A?AܿAA=̼*AE9?2A׽:Am=BAE9?JA׽RAm=٘i)I9sh@Yy G JɼJJJJF&K Y#U~?yᛨ@ABFj7Z7o9/B)BE[[@[#:V~?[[[[[BZYY i) ?Iif@= []))[]@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041202.743165 s, next control iter: 1743041203.123178 s, wait time: 0.380013 s2#U~?)2ᛨ rAdjusting time to match Gazebo time: 1743041203.143165 s.Y/2+K~,*ɬ,AJ"J*J2J:JBJnJvJA ףp@AKe@A&W~? AA&"AA3iNA"AZAbAjArAzAAA>GAfMrAYg@AfA=AxCA@[ ܿAAS4Ӽ*A9?2Ay0׽:AkW=BA9?JAy0׽RAkW=٘i)I9g@Y G J2ϼJJJJF&K Y.U~?y?n@ADF99)B[[t'@[Y1V~?[RȨ[[[[ZZ¸BZYY i¸=) MԼIij@..= ))oI@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041203.163165 s, next control iter: 1743041203.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041203.563165 s.8+K~,V ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082574< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743041203.563286F (some fields omitted in printout)A3333@Aj+@ALW~? AA{&"AAiNA"AZAbAjArAzAAAp A&rAg@A:ACc=AAGۿA`Alۼ*A9?2A;ֽ:A=BA9?JA;ֽRA=Y@y3c=^q:ٓH`7ݿp?إ)S`bXݿ`Cn_Z?@?)@ I٘i)I9g@Y G JּB=JTH<JJJF&KYx> Y@U~?y?AEF7779)BE[[@[(V~?[Ψ[[[[ZZBZYY i) 7ȼIil@i= Д))Дۣ@SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041203.583165 s, next control iter: 1743041203.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14702, header.stamp.nsec: 00 temperature: 13.388553* salinity: 33.391514, density: 1025.000000* values[0]: 0.692073F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041203.983165 s.?+K~,,AJ"J*J2J:JBJnJvJA\(@A{2@AcW~? AA&"AAiNA"AZAbAjArAzAAA1FiAsrACf@A+<Ahr=A3Ap}ڿA@4aA_*A69?2Avֽ:Ao=BA69?JAvֽRAo=٘i)I9Cf@Y$ G JSC=JJJJF&K YTT~?y߲w?AFF790B)BE[[9K@[ V~?[^ը[[[[ZZBZYY i) 8"Iin@U= ))4m@YFFF]r:Waiting for Gazebo time sync: latest Gz time: 1743041204.003165 s, next control iter: 1743041204.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041204.403165 s.&F+K~,,AAQ^@AQ@AV~? AeAx&"AA\iNA"AZAbAjArAzAAApsI1A\,rA~_e@A;^`<AN=AWyA@ٿA`AY*AB9?2A:zֽ:A7<BAB9?JA:zֽRA7<٘i)I9_e@Y G JJJJJF&K YfT~?y>AHFŧ779/B)BE[[I܋@[V~?[ۨ[[[[ZZBZYY i) g Iiq@= [F))[FD@y~=6תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041204.443165 s, next control iter: 1743041204.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14703", header.stamp.nsec: 0"0 temperature: 13.388908"* salinity: 33.391506", density: 1025.000000"* values[0]: 0.690675"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041204.823165 s.L+K~,24,AJ"J*J2J:J0?BJ0?nJf95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082574< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743041204.823308F (some fields omitted in printout)AGz@Acbq@AV~? A2ũA&"AAiNA"AZAbAjArAzAAAkZ#EA"0%rAd@A<Ay=AMAQؿA A$*Ap9?2Aֽ:A 1x<BAp9?JAֽRA 1x<٘i)I9d@Y G JgJJJJF&K  9YyT~? 9y¨>AIF7{7d9) B[[l@[V~?[|[[[[ZZBZYY i) Iit@= ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041204.843165 s, next control iter: 1743041205.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041205.243165 s.S+K~,iO,AAףp=ʷ@A2@APV~? A̩A_o&"AAɁiNA"AZAbAjArAzAAAUWAGYrAc@A˸A04=A!AؿA@&AҼ*AJ9?2A,ֽ:A;BAJ9?JA,ֽRA;٘i)I9c@Y G JJJJJF&K YT~?yPʨ>AJF77/9)B[[,@[ V~?[ [[[[ZZBZYY i) ߗIix@= Ƌ))Ƌ'@~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041205.263165 s, next control iter: 1743041205.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041205.663165 s.Z+K~,qj,AJ"J*J2J:Jk0?BJk0?nJ85vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14704, header.stamp.nsec: 00 temperature: 13.389268* salinity: 33.391514, density: 1025.000000* values[0]: 0.689135F (some fields omitted in printout)A@Aև@A/V~? AөA&"AAmiNA"AZAbAjArAzAAAץTA,hNrAc@A"A{<AA B׿A"eAè*A}9?2Aֽ:A&8 BA}9?JAֽRA&8 Yʃ@ yx<"ٓHql׿`?VDm?j׿:]BT ?)ʃ@ I٘i)I9c@Y8 G J=¼JJJJF&K w> Y/T~?yҨ=A LF77{790B)BE[[m@[[V~?[[[[[ZZBZYY i=) Iiy@= ˁ))ˁh@>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041205.683165 s, next control iter: 1743041206.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041206.083165 s.Da+K~, S,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069205< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743041206.083284F (some fields omitted in printout)A)\5@AR(@AV~? AکA2_&"AAYiNA"AZAbAjArAzAAAߛEEA:ArAb@A{sA '<AhAmֿA`mA~*A<9?2Atֽ:APBA<9?JAtֽRAP٘i)I9b@Y G JJJJJF&K YӾT~?yڨ=AMF779)B[[5@[.U~?[l[[[[ZZBZYY i=)  -Ii{@i!= >))>0@@*}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041206.103165 s, next control iter: 1743041206.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041206.503165 s.g+K~,L4,AJ"J*J2J:JBJnJvJARk@Ay^@ANV~? A>A&"AA GiNA"AZAbAjArAzAAA)AM DrA?b@A.IA!AA@MտAA)*A9?2AJֽ:An|BA9?JAJֽRAn|I٘i)I9?b@Y G JYJJJJF&K YvT~?y=ANFŧ779)B[[z@[hU~?[ [[[[ZZBZYY i) qIi)~@"= ))uЧ@ (YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041206.523165 s, next control iter: 1743041206.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14705, header.stamp.nsec: 00 temperature: 13.389513* salinity: 33.391491, density: 1025.000000* values[0]: 0.688132F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041206.923165 s.?n+K~,,AA{G@AL…<@AV~? AuAH&"AA4iNA"AZAbAjArAzAAA(L`"ApѫrAb@AOfA;Ac4AԿAA#˻*A9?2A*ֽ:ALBA9?JA*ֽRAL٘i)I9b@Y G J JJJJF&K YT~?y)o=APF)7ŧ7Z 9/B)BE[[ >@[ U~?[[[[[ZZBZYY i) \Iiy@Gr$= ))`@y^=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041206.963165 s, next control iter: 1743041207.323180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743041207.343165 s. elevatorAngleAction: 0.077982< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743041207.343302F (some fields omitted in printout)Ap= ׸@ASʸ@AOV~? AA%&"AAk#iNA"AZAbAjArAzAAA,`m3AoUrAa@AW;AAAӿA`\IA*A9?2A׽:A^ǼBA9?JA׽RA^Ǽ٘i)I9a@Y| G JJJJJF&K YT~?y`J=AQFb777$ 91B)"BE[[͏@[U~?[ [[[[BZYY i) GAHIi @ x&= ))@+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041207.363165 s, next control iter: 1743041207.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14706*, header.stamp.nsec: 0*0 temperature: 13.389612** salinity: 33.391483*, density: 1025.000000** values[0]: 0.687758*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041207.763165 s.:{+K~,,,AA @Av@AV~? AA;,&"AAiNA"AZAbAjArAzAAA*8A?ԛrAa@AyZ<A.AkAҿA@3|A:*A9?2AJ$׽:AīBA9?JAJ$׽RAīYD @y. Z<ٓH;ѿ h?bV@@r6ѿ?`ݥ? O??)D @ I٘i)I9a@Yz G JB=J)JJJF&Kx> YT~?y=ARFj7SI7 9)[[]@[pU~?[N[[[[BZYY ii=) c7Ii@U'= |))|~@j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041207.783165 s, next control iter: 1743041208.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041208.183165 s.˂+K~,V ,AJ"J*J2J:JBJnJvJA(\B@A?RD5@A?V~? AA&"AAiNA"AZAbAjArAzAAA1<2AqV#rA"a@AhN<ANvWAPAҿA@,A;*A9?2AE ׽:AfBA9?JAE ׽RAf٘i)I9a@Y G J|n;C=JJJJF&K Y|T~?y]=ATF{7{79)!B[[@[5U~?[[[[[BZYY i=) &Ii@gq(=  x)) x|@?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041208.203165 s, next control iter: 1743041208.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041208.603165 s.94+K~,&,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066423< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743041208.603287F (some fields omitted in printout)AQx@A}Fk@ArV~? AA| &"AAshNA"AZAbAjArAzAAAO&A+msA"4b@A;AwAA9ѿA@A̭.<*AK9?2Aֽ:AB;BAK9?JAֽRAB;٘i)I94b@Y G JZ<JJJJF&K Y݈T~?y =AUF77j790B)BE[[{@[^U~?[[[[[BZYY i) Ii@ )= s))s@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041208.623165 s, next control iter: 1743041209.003175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14707 , header.stamp.nsec: 0 0 temperature: 13.389609 * salinity: 33.391464 , density: 1025.000000 * values[0]: 0.687890 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041209.023165 s.Z+K~,|A,AJ"J*J2J:JBJnJvJAHz@AW@A"yV~? A Aw&"AAhNA"AZAbAjArAzAAAn+AʥgPsAƈb@AA7A?AXпAeA3h<*A'9?2AH]ֽ:A BA'9?JAH]ֽRA ٘i)I9b@Y G JmI<B=JJJJF&K YAVFŧ7b7O92B)BE[[( @[U~?[%[[[[BZYY i) VIi@'`+= o))o#,@y׭=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041209.063165 s, next control iter: 1743041209.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041209.443165 s.2Ö+K~,)]\,AAq= @Aֹ@AOpV~? A'A&"AA&hNA"AZAbAjArAzAAAn nAq, sAb@ASA AA οA>-A2܋<*A9?2AZ*ֽ:A dBA9?JAZ*ֽRA d٘i)I9b@Y G JO<C=JJJJF&K YyT~?yp>AXF{7j79)B[[@[U~?[c,[[[[BZYY i) IiO@`2-= j))j@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041209.463165 s, next control iter: 1743041209.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14708, header.stamp.nsec: 00 temperature: 13.389470* salinity: 33.391434, density: 1025.000000* values[0]: 0.688533F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041209.863165 s.++K~,y>w,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066423< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743041209.863281F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AIc @AgV~? AAO&"AAhNA"AZAbAjArAzAAAXzAQsASpc@AbAPA߿A`WͿA !TA<*A9?2AAֽ:A BA9?JAAֽRA YM@e޿y\LcٓH`ſ??`rſ?`$?v_?)M@ I٘i)I9pc@Yl G J<B=JޗJJJF&Kw> YtT~?y&>A޿YFS779)B[[&@[-U~?[23[[[[BZYY i) ԍɻIiԇ@R-= E:f))E:fH@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041209.903165 s, next control iter: 1743041210.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743041210.283165 s.7R+K~,,AA(\O@Av;OB@A)`V~? A$A &"AAٽhNA"AZAbAjArAzAAA>:~o_ AoTsAc@AA?ArܿAD˿AyA:H<*A9?2Aֽ:A&BA9?JAֽRA&٘i)I9c@Y G J3<C=JJJJF&K YoT~?y0/;?AZF{7{791B)BE[[Ĵ@[U~?[9[[[[BZYY i) `FIi@ .= a))a֬@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041210.303165 s, next control iter: 1743041210.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14709., header.stamp.nsec: 0.0 temperature: 13.389256.* salinity: 33.391434., density: 1025.000000.* values[0]: 0.689539.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041210.703165 s.Ժ+K~,,AJ"J*J2J:JBJnJvJAQ@Aix@AXV~? AD,A5" &"AAYhNA"AZAbAjArAzAAA_F ALsAd@A/;AyAHٿAhɿAAI<*A 9?2A׽:ABA 9?JA׽RA٘i)I9d@Y G Jۧ<B=JJJJF&K Y,kT~?y7?A\F)7ŧ7z93B)BE[[B@[U~?[@[[[[BZYY i) LIin@/= UY]))UY]d@h*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041210.723165 s, next control iter: 1743041211.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041211.123165 s.;+K~,mǮ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066423< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743041211.123324F (some fields omitted in printout)AGẺ@Aԭ@ARV~? A4A` &"AAhNA"AZAbAjArAzAAA[ AtsAZe@A<<AZxAM ׿AMǿAIA<*A9?2AB׽:AUk BA9?JAB׽RAUk ٘i)I9e@Yk G J<C=JJJJF&K Y\fT~?y@@A]F7)7D9,B)B[[Д@[hU~?[G[[[[BZYY i)  V]Ii@J1= X))X@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743041211.163165 s, next control iter: 1743041211.523180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743041211.543165 s.I+K~,,AJ"J*J2J:J0?BJ0?nJA95vJA= ף@A@AKV~? A;A &"AAhNA"AZAbAjArAzAAAX ռM A?{"sAe@A*Xi<AAiԿA ſAA%<*AT9?2A@׽:AY BAT9?JA@׽RAY ٘i)I9e@Y G J<B=JJJJF&K YaT~?y8Il@A^F7{79)B[[]@[?U~?[[N[[[[BZYY i)  Iiŋ@32= ݆T))݆T~@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041211.583165 s, next control iter: 1743041211.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14710, header.stamp.nsec: 00 temperature: 13.389026* salinity: 33.391407, density: 1025.000000* values[0]: 0.690711F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041211.963165 s.|+K~,,AAffff&@A ]lZ@AFV~? ACA:X &"AAhNA"AZAbAjArAzAAAari A]k'sA\9f@A<A.AѿA ÿAA뚱<*A9?2A4ֽ:AQBA9?JA4ֽRAQYD@ѿyXCs<ٓH@\R?%)q ҳ? ?|?`V?)D@ I٘i)I99f@Y G Jد<C=JJJJF&Ktx> Y_T~?yQ@Aѿ`Fj7SI79)BE[[@[uU~?[)U[[[[BZYY i) ɺIi @\3= P))P @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041211.983165 s, next control iter: 1743041212.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743041212.383165 s.+K~,@,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066423< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743041212.383297F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A%!O@A@V~? AKA &"AA+hNA"AZAbAjArAzAAA՚X A?:P@,sAf@AUJA$@A`WϿA`0A_ A3<*A9?2Aֽ:A>BA9?JAֽRA>٘i)I9f@Yz G JM<B=JJJJF&K Y]T~?yZ@AAaF{7{7 9)B[[w@[ U~?[[[[[[BZYY i) ;#Ii@u4= -K))-K@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041212.423165 s, next control iter: 1743041212.783178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14711&, header.stamp.nsec: 0&0 temperature: 13.572173&* salinity: 33.374981&, density: 1025.000000&* values[0]: 0.569418&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041212.803165 s.|A+K~,g3,AA둻@AY䄻@A elevatorAngleAction: 0.066423< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743041213.643278F (some fields omitted in printout)A ףp@AjN^d@A"4V~? AcA&"AAwhNA"AZAbAjArAzAAAz˜ AsTkh:sAh@Am6AYBAǿA:A@HACn<*A9?2Aqֽ:ABA9?JAqֽRA٘i)I9h@Y G J <JJJJF&K YWT~?yu}BAeF77&9)BE[[oÿ[U~?[Bp[[[[BZYY i)  ;Iie@}7= >))>>'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041213.663165 s, next control iter: 1743041214.043191 s, wait time: 0.380026 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14712, header.stamp.nsec: 00 temperature: 13.571912* salinity: 33.375011, density: 1025.000000* values[0]: 0.570117F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041214.063165 s.+K~,V ,AJ"J*J2J:JBJnJvJA33333@AW'g(&@A0V~? AkA|O&"AA~rhNA"AZAbAjArAzAAA A6Oʾ?sAP)i@AA>AĿAմA SXA<*AM9?2Aֽ:ABAM9?JAֽRAYҐ@Ŀy=1ٓHÑ??\- (? &? #?a`c?)Ґ@ I٘i)I9)i@Y G J٫<J?n<JJJF&KOx> YXT~?y}BAĿfF7'9)B[[ɓ[$U~?[w[[[[BZYY i) zH;Ii@7= :))::*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041214.103165 s, next control iter: 1743041214.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041214.483165 s.x_+K~,잯,AA\h@A͍[@AV.V~? AsA&"AAnhNA"AZAbAjArAzAAA}A #DsA4i@A%<A˒A:¿A@BAeA5<*A9?2A8׽:AuBA9?JA8׽RAu٘i)I9i@Y;G J<JJJJF&K YYT~?yACAhF7{7)9)ޯB[[`[U~?[}[[[[BZYY i) Ơ;Ii@UC8= ñ5))ñ5ñ5Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041214.503165 s, next control iter: 1743041214.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14713, header.stamp.nsec: 00 temperature: 13.571646* salinity: 33.375008, density: 1025.000000* values[0]: 0.570797F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041214.903165 s.+K~,͹,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066423< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743041214.903295F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Aq8󫑼@A<,V~? A{A&"AAtjhNA"AZAbAjArAzAAA>p,JAiIsA[4j@A$c<AfA'A`CA 1oA<*Ak9?2AeQ׽:A*BAk9?JAeQ׽RA*٘i)I94j@YG J<JJJJF&K YZT~?yCAiFŧ7b7e+9)گB[[.[lU~?[[[[[BZYY i) A;Ii@B8= ;M1));M1;M1V*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041214.923165 s, next control iter: 1743041215.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041215.323165 s.u+K~,!ԯ,AAGzԼ@AmǼ@A*V~? A̓Ax&"AAghNA"AZAbAjArAzAAAntPpAD҅~NsA@j@A N<AⰊAVAഛAvA<*Am9?2A+,׽:A2BAm9?JA+,׽RA2󼙘٘i)I9j@YG J<JJJJF&K Ym[T~?yRDAjF777/-9)ׯBE[[[U~?[<[[[[BZYY i9g=) J߿;Ii?@G9= 3,))3,3,*YFFF]q:Waiting for Gazebo time sync: latest Gz time: 1743041215.343165 s, next control iter: 1743041215.723177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14714&, header.stamp.nsec: 0&0 temperature: 13.571412&* salinity: 33.374989&, density: 1025.000000&* values[0]: 0.571410&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041215.743165 s.W+K~,u,AJ"J*J2J:JBJnJvJAףp= @A;3@A)V~? AዪA~&"AAehNA"AZAbAjArAzAAAo ^ĉAayolSsA.k@A5;AiHA qAAj{A<*A/9?2Aֽ:AcBA/9?JAֽRAc٘i)I9.k@Y#G JD<JJJJF&K YW\T~?yeDAlFb77.9)ӯB[[͸[*U~?[둩[[[[BZYY i) ;Ii+@M;= ˋ())ˋ(ˋ( *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041215.763165 s, next control iter: 1743041216.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041216.163165 s.u},K~,q ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075392< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743041216.163285F (some fields omitted in printout)A@@Aa2@A)V~? AA<&"AAkdhNA"AZAbAjArAzAAAf34A-"C[XsAk@ArDAqqA췿A{A@|}Ah<*A9?2ACֽ:A}BA9?JACֽRA}Y@෿ypٓH@? ?jA@? ?@ ?hw?)@ I٘i)I9k@YnG Jғ<J'<JJJF&K4x> Y `T~?yکDA෿mFj7j709)ϯB[[U[U~?[[[[[BZYY i) Q;Ii/@;= ($))($($ݹ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041216.183165 s, next control iter: 1743041216.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041216.583165 s.,K~,R%,AJ"J*J2J:JBJnJvJA)\u@A_h@A )V~? A A&"AAchNA"AZAbAjArAzAAAb"oA u-I]sA&l@AcVAkAaA?A&}A<*A9?2A fֽ:ABA9?JA fֽRA٘i)I9&l@YG J<JJJJF&K YcT~?yEAnF7729)˯BE[[Ck[bU~?[H[[[[BZYY i) Y elevatorAngleAction: 0.075392< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743041217.423317F (some fields omitted in printout)A{G@AemS<Խ@A*V~? A1Amc&"AAehNA"AZAbAjArAzAAAQoAI\&&gsA%m@A1MA܉AAp?A uA@<*A9?2Aֽ:ABBA9?JAֽRAB٘i)I9m@YOG J<C=JJJJF&K YxkT~?y ĩEAqFŧ7b7%69)ïB[[ [ U~?[[[[[BZYY i) 'r- YuT~?yTթFAժtF777799.B)BE[[Q['U~?[[[[[BZYY i) ciL elevatorAngleAction: 0.075392< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743041218.683284F (some fields omitted in printout)A(\@Atu@A"1V~? AYĪAS&"AAmhNA"AZAbAjArAzAAA AcEusA}n@Af<A/AKAD?AUAZ<*A;9?2AnF׽:AsBA;9?JAnF׽RAs٘i)I9}n@Y&G J<JJJJF&K Yx|T~?yݩFAuF{7j7;9)B[[|[?U~?[;[[[[BZYY i) [FAO<*AZ9?2Avֽ:ABAZ9?JAvֽRA٘i)I9n@YpG J<JJJJF&K YT~?ytLGAvF77{7O=9)B[[ M[U~?[Ʃ[[[[BZYY i̬=) >k= ;,));,;, *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041219.543165 s, next control iter: 1743041219.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14718, header.stamp.nsec: 00 temperature: 13.570477* salinity: 33.375000, density: 1025.000000* values[0]: 0.573681F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041219.943165 s.Zd>,K~,J],AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084375< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743041219.943325F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #@A@AF= ^))^^E*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041219.963165 s, next control iter: 1743041220.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041220.363165 s.E,K~,>,AAY@AyL@AAV~? AGA%"AAPhNA"AZAbAjArAzAAA5R AasA[p@AjA>yA+A?A \ A><*A9?2AGֽ:ABA9?JAGֽRAY@ϝy:uPjٓH`h(?2?%@ &?UK?@*?u@,?)@ I٘i)I9p@Y`G Je<JagJJJF&Kx> YT~?yqHAϝ{Fb77B9)B[[g["V~?[ک[[[[BZYY i) ז= ))y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041220.403165 s, next control iter: 1743041220.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14719&, header.stamp.nsec: 0&0 temperature: 13.570210&* salinity: 33.374992&, density: 1025.000000&* values[0]: 0.574303&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041220.783165 s.WK,K~,2,AJ"J*J2J:JBJnJvJA(\@AߤiP@AJFV~? A0A%"AA݋hNA"AZAbAjArAzAAATZf A5sA q@A/A@AMA@U?A AG<*A=9?2Aށֽ:ABA=9?JAށֽRA٘i)I9 q@YG J#<JJJJF&K YT~?y0HA|F777zD9)B[[[V~?[m[[[[BZYY i) != +))+辩+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041220.803165 s, next control iter: 1743041221.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041221.203165 s.S,K~, M,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084375< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743041221.203271F (some fields omitted in printout)AQſ@Ai@ALV~? AA%"AA5hNA"AZAbAjArAzAAAeF A^sA˙q@AϺA=)AA?AA<*A9?2Aֽ:ABA9?JAֽRA٘i)I9q@Y G J<B=JJJJF&K YaT~?y?IA}F7EF90B)BE[[c[/V~?[[[[[BZYY i)  = n߾))n߾n߾*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041221.223165 s, next control iter: 1743041221.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041221.623165 s.zY,K~,g,AJ"J*J2J:J2?BJ2?nJX5vJAG@ADb@AaRV~? AAL%"AAWhNA"AZAbAjArAzAAA#`g AJP̗sAj'r@A  <AAA啿Aಿ?ABAT<*At9?2A2׽:AQBAt9?JA2׽RAQ٘i)I9'r@YaG J<C=JJJJF&K YT~?yIAF87SI7H91B)B!E[[+5[#V~?[[[[[BZYY i) 49= ־))־־*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743041221.643165 s, next control iter: 1743041222.023215 s, wait time: 0.380050 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14720 , header.stamp.nsec: 0 0 temperature: 13.569935 * salinity: 33.375000 , density: 1025.000000 * values[0]: 0.574983 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041222.043165 s.`,K~,Â,AA= ף0@A ж#@A4YV~? AA%"AAChNA"AZAbAjArAzAAAnc AGmӍsAڶr@Ac<A}A;AǛ?A/Ak<*A9?2AF׽:ABA9?JAF׽RA٘i)I9r@YG J<B=JJJJF&K YT~?y! JAF7b7I9)B[[[+V~?[O[[[[BZYY i) bŪ elevatorAngleAction: 0.084375< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743041222.463268F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@AYZY@A`V~? An A4%"AAhNA"AZAbAjArAzAAAWmZU A ,HsAJs@ASE<AtAAep?A`pA߳<*A9?2A׽:ABA9?JA׽RAY۝@ƐyLF<ٓH`&??D@L?V???@?)۝@ I٘i)I9Js@YG Jد<C=JJJJF&KHx> YT~?y)~JAƐF77K9)B[[Mٕ[3V~?[[[[[BZYY i) 6= ~Ež))~Ež~Ež*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041222.483165 s, next control iter: 1743041222.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14721, header.stamp.nsec: 00 temperature: 13.569626* salinity: 33.375008, density: 1025.000000* values[0]: 0.575660F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041222.883165 s.ym,K~,+,AA(@A-&6@AahV~? A!Ab%"AAmhNA"AZAbAjArAzAAA+aAsAs@A=;A⟫A"A`L=?A@KA,<*A9?2Aֽ:ABA9?JAֽRAI٘i)I9s@YqG Jڷ<JJJJF&K Y T~?y1JAF77{7pM92B)B%E[[Ū[_лA:AA?Ak$A<*AJ9?2ArCֽ:AHBAJ9?JArCֽRAH٘i)I9t@YG J<JJJJF&K Y"T~?y8`KAFŧ7b7:O9)B[[%|[EEV~?[[[[[BZYY i) W elevatorAngleAction: 0.084375< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743041223.723298F (some fields omitted in printout)Az@A3@AyV~? A^"AZ%"AAhNA"AZAbAjArAzAAAP;AGsAq1u@AYA1쯽AA 6e?A@A<*A(9?2Aֽ:A#BA(9?JAֽRA#٘i)I91u@Y;G JC<JJJJF&K Y%T~?y@KAF77{7Q9)B[[EM[NV~?[ [[[[BZYY i) P"= Z))ZZj*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041224.163165 s, next control iter: 1743041224.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041224.563165 s.,K~,c $,AA3333s@A=|(f@AV~? A_1Ag4%"AAhNA"AZAbAjArAzAAA#sH'APpsAv@A}ͻA`AуA ,?AA<*A9?2A[ֽ:AHBA9?JA[ֽRAHY@yz:EλٓHpn? )n?'xQ@xz? t?!;?y@?)@ I٘i)I9v@YG J <J2JJJF&Kx> Y U~?yrPLAFb77T94B)B)E[[[aV~?[[[[[BZYY i) ԰,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084375< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743041224.983290F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@Ah@AV~? A8A %"AAiNA"AZAbAjArAzAAA36*-AsAm@w@AV;AӲAA`I?AnA"<*A9?2AVֽ:ABBA9?JAVֽRAB٘i)I9@w@Y|G JA<JJJJF&K Y<U~?yW2MAFŧ7b7eV95B){B,E[[Eˆ[(lV~?[[[[[BZYY i) 1BZYY i¸>ª)  YTU~?yuNAnmFb77]98B)fB3E[[[HV~?[4[[[[ZZZZBZYY i) bG*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041226.683165 s, next control iter: 1743041227.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041227.083165 s.D,K~, SŲ,AA)\µ@A5鶨@AV~? A\A%"AAXiNA"AZAbAjArAzAAAd;AIsA#{@A'AqAchA~J?AVAt<*A֮9?2A_ֽ:A/kBA֮9?JA_ֽRA/k٘i)I9{@YG J/<JJJJF&K YeU~?y|cOAF{7{7Z_9)_B[[{[V~?[:[[[[ZZZZBZYY i) 䤢'))>'>'<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041227.963165 s, next control iter: 1743041228.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743041228.343165 s.<,K~,,AJ"J*J2J:JBJnJvJAp= W@AڊI@AcV~? A^qA}K%"AAiNA"AZAbAjArAzAAAFA;뮀sA)|@A9A\A6XA#?A Ap y<*AI9?2A[ֽ:A)<BAI9?JA[ֽRA)<٘i)I9|@YG J)<JJJJF&K YU~?yϑPAFŧ7ŧ7d9:B)SB:E[[yn[V~?[K[[[[ZZZZBZYY i)  xJJJF&K|v> YU~?yMPASFf9)PB[[j[V~?[P[[[[ZZZZBZYY i`Ez) El,K~,[],AAq= c@ANV@A GW~? AA%"AAjNA"AZAbAjArAzAAARiۿA[EasA]}@A>As[=AH>A?A3A_*A9?2AYֽ:A <BA9?JAYֽRA <٘i)I9]}@Y5G JPJJJJF&K YwU~?yE\PAF77m9>B)SBDE[[hX[BW~?[xe[[[[BZYY i) 3!,A:J?BJ?nJ 5vJA@A_&@AWW~? A%AP%"AA jNA"AZAbAjArAzAAA}4οAVb+sA!}@A2YApz=AF9AkW?A@Ap+*Aߓ9?2A;ֽ:A=BAߓ9?JA;ֽRA=٘i)I9!}@YG J6JJJJF&K Y V~?yĸQPAF777{o9)UB[[S[W~?[j[[[[BZYY i) *̪0PAF77t9)`B[[OF[JW~?[=y[[[[BZYY i) J;Ii@S5= <))<<ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041232.143165 s, next control iter: 1743041232.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041232.543165 s.I-K~,",AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.071970< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743041232.543300F (some fields omitted in printout)A= ףp@Ac@AW~? A鯫A]{%"AAjNA"AZAbAjArAzAAAO?A u!tAe{@AO<A=A$A@v?AAJ*AΑ9?2Aս:A*d=BAΑ9?JAսRA*d=٘i)I9e{@YG JJJJJ F&K YbXV~?yҪ%PAF7777v9AB)fBOE[[_EB[9ZW~?[}[[[[BZYY i+) xh;IiK@"6= O<))O<O<BݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041232.563165 s, next control iter: 1743041232.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14731, header.stamp.nsec: 00 temperature: 13.567240* salinity: 33.375072, density: 1025.000000* values[0]: 0.580613F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041232.963165 s.-K~,=,AAffff@A0[@AW~? AA %"AAjNA"AZAbAjArAzAAAJJJ F&K> YNoV~?yתOAyFb77px9)kB[[=[ jW~?[[[[[BZYY ib) S;Ii@d4= @2=))@2=@2=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041232.983165 s, next control iter: 1743041233.363183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743041233.383165 s.-K~,/X,AJ"J*J2J:JBJnJvJA(@A@AfW~? AA!%"AA:jNA"AZAbAjArAzAAA^ʓ?A^{ tA3z@A ;A=AkhA8?A ߿AH*A]9?2Aaֽ:A=BA]9?JAaֽRA=٘i)I93z@YHG JJJJJ F&K Y9V~?yݪIOAF7;z9BB)pBRE[[C9[*zW~?[[[[[BZYY i:݄) 6o;Ii@G2=  y=)) y= y=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041233.403165 s, next control iter: 1743041233.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14732", header.stamp.nsec: 0"0 temperature: 13.567422"* salinity: 33.375072", density: 1025.000000"* values[0]: 0.579975"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041233.803165 s.zA-K~,gs,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.064875< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743041233.803308F (some fields omitted in printout)A@A@AW~? AA3%"AAjNA"AZAbAjArAzAAA^1:?AsltAy@A]6Aq]=AA`d?A "߿AP5*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9y@YG JPJJJJF&K Y&V~?y"NAF{7{7|9)vBUE[[5[W~?[[[[[BZYY i) t:Ii@1= `П=))`П=`П=y6[bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041233.843165 s, next control iter: 1743041234.203180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743041234.223165 s.g#-K~,H,AJ"J*J2J:JBJnJvJAzG@Ay:@AEW~? AūAF%"AAjNA"AZAbAjArAzAAAS?AotAx@A1:A=AA@?Ag޿Ae*A!9?2A ׽:AQ =BA!9?JA ׽RAQ =٘i)I9x@YG JJJJJF&K YV~?yElNAFb7b7}9CB){BXE[[0[TW~?[폪[[[[BZYY i) -#:Ii@0= 6=))6=6=yIvYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041234.243165 s, next control iter: 1743041234.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041234.643165 s.y)-K~,*,AA ףp}@Acp@A YzV~?yMAiFŧ7ŧ7f9EB)B\E[['[vW~?[h[[[[BZYY i) LoIiʇ@-= >))>>ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041235.083165 s, next control iter: 1743041235.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041235.483165 s.w_7-K~,޴,AA\@Ag@A*'X~? AԫA̞%"AAXkNA"AZAbAjArAzAAAj@A&ItAw@Ah9A=A4A^?A -ܿAv*A9?2A))>>D٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041235.503165 s, next control iter: 1743041235.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14734, header.stamp.nsec: 00 temperature: 13.567833* salinity: 33.375103, density: 1025.000000* values[0]: 0.578628F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041235.903165 s.=-K~,,AJ"J*J2J:JBJnJvJAQ@AZ$@A))`r(>`r(>ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041235.923165 s, next control iter: 1743041236.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041236.323165 s.xD-K~,-,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.064875< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743041236.323279F (some fields omitted in printout)AGzT@A?PnG@A[QX~? AeޫA%"AArkNA"AZAbAjArAzAAA ,@A A "tAu@Ac<Aԕ=A,AQ?AڿAf*A9?2AM/ֽ:AQ=BA9?JAM/ֽRAQ=٘i)I9u@YG JdC=JJJJF&K Y,W~?yMLAF77Ɔ9)B[[~[W~?[|[[[[BZYY i) `IiO@[)= G:>))G:>G:>ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041236.343165 s, next control iter: 1743041236.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14735*, header.stamp.nsec: 0*0 temperature: 13.568040** salinity: 33.375118*, density: 1025.000000** values[0]: 0.577948*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041236.743165 s.WK-K~,`/,AJ"J*J2J:JBJnJvJAףp=@Aŏ1}@AfX~? AA%"AAݷkNA"AZAbAjArAzAAAgl@A'$tA;u@A:1<AF=AA?AٿA$*A9?2Ahֽ:A!=BA9?JAhֽRA!=٘i)I9;u@YAG JJJJJF&K YdEW~?yOKAFS779)BeE[[#[X~?[W[[[[BZYY i) MrIi@Y(= *L>))*L>*L>ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041236.763165 s, next control iter: 1743041237.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041237.163165 s.y}R-K~,qJ,AA@A>@A|X~? ALA2%"AAkNA"AZAbAjArAzAAA;+Rt @A{'tAet@A~6;AGэ=A־A@?A] ٿAƕ*A9?2Aֽ:A1 <BA9?JAֽRA1 Y0_W~?yKA־F777[9GB)BhE[[O[OX~?[[[[[BZYY if) AIiՁ@0&= 0]>))0]>0]>êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041237.183165 s, next control iter: 1743041237.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041237.583165 s.X-K~,Se,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076939< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743041237.583277F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\@AA@AX~? AA%"AA kNA"AZAbAjArAzAAA¿P @Afk*tAB$t@A]A=A$̾A@q?AM;ؿA/*A9?2A ׽:AN<BA9?JA ׽RAN<٘i)I9$t@YG J࠼JJJJF&K YxW~?y{ #KAF77&9)BkE[[ [)X~?[[[[[BZYY i) ߻IiU@C$= o>))o>o>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041237.603165 s, next control iter: 1743041237.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14736, header.stamp.nsec: 00 temperature: 13.568230* salinity: 33.375126, density: 1025.000000* values[0]: 0.577318F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041238.003165 s.| `-K~,]4,AAR+@Amscz@ANX~? AA%"AAlNA"AZAbAjArAzAAA,Xd@A#),tAhs@A _Av=A$gA Z?Af׿AV*Aw9?2A!׽:A <BAw9?JA!׽RA <٘i)I9s@YJG JԕJJJJF&K YɒW~?y JAF7ŧ79RB)BnE[[[))܀>܀>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041238.023165 s, next control iter: 1743041238.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743041238.423165 s.uf-K~,,AJ"J*J2J:J?BJ?nJ5vJA{Ga@A)=T@AX~? AA:>%"AA=lNA"AZAbAjArAzAAAch;@AL.tA/s@AHA"=A$ A`ڕ?AֿA~*A9?2Aֽ:A!<BA9?JAֽRA!<I٘i)I9/s@YG JJJJJF&K YW~?ydJAF7{79)BoE[[ [0PX~?[ö[[[[BZYY i) ]YIi{@!!= Pމ>))Pމ>Pމ>yA~vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041238.463165 s, next control iter: 1743041238.823179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14737, header.stamp.nsec: 00 temperature: 13.568372* salinity: 33.375141, density: 1025.000000* values[0]: 0.576795F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041238.843165 s.l-K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076939< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743041238.843303F (some fields omitted in printout)Ap= @AXm@AX~? AiA:%"AA}`lNA"AZAbAjArAzAAA@V2@ASQ1tAr@AA=A嬾A`?A@տAɍ*A9?2Aֽ:A^<BA9?JAֽRA^<٘i)I9r@YG JJJJJF&K YbW~?y=JAF779SB)BrE[[8[cX~?[#[[[[BZYY i) [Iiy@P= )>)))>)>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041238.863165 s, next control iter: 1743041239.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041239.263165 s.t-K~,е,AJ"J*J2J:JBJnJvJA@ADX@AX~? AA%"AAhlNA"AZAbAjArAzAAAKPl_K@A3tA@r@Ab;A@c=AբA{?AԿA*A`9?2A@^ֽ:AN=BA`9?JA@^ֽRAN=Y@Xyb={ѽ;ٓHlT?7??ӿ e?:H Jw?@+?)@ I٘i)I9@r@YqG J JJJJF&Kw> Y:W~?yIAFj7j7Q9)BuE[[UB[5wX~?[b[[[[BZYY i) >-Ii5v@/= aݛ>))aݛ>aݛ>|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041239.303165 s, next control iter: 1743041239.663174 s, wait time: 0.360009 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 147382, header.stamp.nsec: 020 temperature: 13.5684922* salinity: 33.3751642, density: 1025.0000002* values[0]: 0.5763192F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041239.683165 s.lz-K~,c,AA(\@AKs+@AY~? AAb%"AAlNA"AZAbAjArAzAAAݻ!9g@Am.5tAQq@AlS<A/=AA:?A@ ԿA]*AG9?2Ao5ֽ:Ai=BAG9?JAo5ֽRAi=٘i)I9q@Y%G J-JJJJ!F&K Y W~?yKIAFZ7Z79)ůBxE[[u@[X~?[[[[[BZYY i) r))Aߤ>Aߤ>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041239.683165 s, next control iter: 1743041240.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743041240.103165 s.-K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076939< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743041240.103285F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8@A׃I+@A Y~? AA)%"AAOlNA"AZAbAjArAzAAAvTlɅ@ACl/7tAGq@AY<AC=Ab@Al?Ag+ӿA0*A`9?2AMֽ:Ays=BA`9?JAMֽRAys=٘i)I9Gq@YG J2B=JJJJ"F&K YX~?y~HAF7{79)ɯB{E[[0[X~?[ê[[[[BZYY i) u))>>êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041240.123165 s, next control iter: 1743041240.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041240.523165 s.-K~,{!,AAHzn@Aa@A4Y~? A5A%"AAElNA"AZAbAjArAzAAA]ŕ@Aa:9tA$p@A!P;Ax&=AʕA ?A@IҿAi於*A9?2A~ֽ:A,=BA9?JA~ֽRA,=٘i)I9p@YG J0C=JJJJ#F&K Y1X~?y>HAF{79TB)ͯB~E[[۾[uX~?[ƪ[[[[BZYY i) [Iinm@= >))>>YƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041240.543165 s, next control iter: 1743041240.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14739, header.stamp.nsec: 00 temperature: 13.568625* salinity: 33.375168, density: 1025.000000* values[0]: 0.575809F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041240.943165 s.J "J *J Zd-K~2J:Jh?,J]<,ABJh?nJ5vJAq= ף@A ̖@AMY~? AHA%"AAmNA"AZAbAjArAzAAA}y@AQf;tAIp@A_A_=A qA?AdѿAe*A9?2Aֽ:AP=BA9?JAֽRAP=٘i)I9Ip@Y>G JxJJJJ%F&K YLX~?y!4HAFŧ7b7{9)ѯB[[yѾ[X~?[lɪ[[[[BZYY i) ^:kIiBk@= =*>))=*>=*>`ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041240.983165 s, next control iter: 1743041241.343180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743041241.363165 s.-K~,>W,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076939< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743041241.363287F (some fields omitted in printout)A@A%@AFeY~? A3 AXf%"AA%7mNA"AZAbAjArAzAAArE$@A\ie=tAo@Ae?Aє=Av\A`?A}пAgr*A9?2A)׽:A=BA9?JA)׽RA=٘i)I9o@YG JJJJJ&F&K YfgX~?y$GAF{7{7F9)կBE[[-Ⱦ[X~?[-̪[[[[BZYY i(w) zIixi@k= T>))T>T>̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041241.383165 s, next control iter: 1743041241.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14740&, header.stamp.nsec: 0&0 temperature: 13.568739&* salinity: 33.375179&, density: 1025.000000&* values[0]: 0.575290&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041241.783165 s.X-K~,r,AJ"J*J2J:JF?BJF?nJm5vJA(\@A)P@A}Y~? A A.%"AA\mNA"AZAbAjArAzAAAHn!$@A:k#?tAFLo@ADaAa=AV GA"?A4-ϿA*A9?2Ax׽:AO=BA9?JAx׽RAO=٘i)I9Lo@YG JJJJJ'F&K Y))E>E>1ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041241.803165 s, next control iter: 1743041242.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041242.203165 s.-K~,*,AAQE@A#8@ARY~? AA0%"AA0mNA"AZAbAjArAzAAA?C@A$@tAn@AbI AiK=A2AkI?A_ͿAՈ*AJ9?2Aֽ:A =BAJ9?JAֽRA =٘i)I9n@YUG JJJJJ)F&K YX~?y?*GAFj7j7۟9)ݯBE[[ue[*Y~?[ZѪ[[[[BZYY i) ڌIi g@P= A>))A>A>ԪYFFF]n:Waiting for Gazebo time sync: latest Gz time: 1743041242.223165 s, next control iter: 1743041242.603180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041242.623165 s.U-K~,T⧶,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085676< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743041242.623301F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@AG ^m@AY~? AA%"AAmNA"AZAbAjArAzAAA Ep@Ar+BtAAn@AO:A뮝=AAgm?As˿Aզ*A9?2Acoֽ:A=BA9?JAcoֽRA=٘i)I9An@YG JġB=JJJJ*F&K YX~?y,FAFS779)BE[[9+[Y~?[Ӫ[[[[BZYY i) 󛔼Iihf@Bv= }>))}>}>ybتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041242.643165 s, next control iter: 1743041243.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14741 , header.stamp.nsec: 0 0 temperature: 13.568857 * salinity: 33.375168 , density: 1025.000000 * values[0]: 0.574774 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041243.043165 s.-K~,¶,AA= ף@A@AY~? ARA%"AA>mNA"AZAbAjArAzAAA.X@A-&ҒCtA_m@Ai(<A =AÌ A ?AdɿAt*A)9?2A"ֽ:Afq=BA)9?JA"ֽRAfq=٘i)I9m@YG JC=JJJJ+F&K YX~?y/dFAF77q9)BE[[["2Y~?[֪[[[[BZYY i) {ZIi)f@M= ->))->->^ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041243.063165 s, next control iter: 1743041243.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041243.463165 s.X-K~,ݶ,AJ"J*J2J:J?BJ?nJ75vJAffff@A^I\@AY~? AvAn%"AAmNA"AZAbAjArAzAAAI'U@AMAgDtAZm@Af<Ax5=A A?A <ǿA!*A09?2ACֽ:ACG=BA09?JACֽRACG=Ye@ƹyJ1=Dtg<ٓH?o?@r??@֌? ?)e@ I٘i)I9m@YOG JJ<JJJ-F&K> YX~?y0EAFb77;9UB)BE[[⚾[lGY~?[3ت[[[[BZYY i) wIia@Y= <>))Os<><>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041243.483165 s, next control iter: 1743041243.863180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14742, header.stamp.nsec: 00 temperature: 13.569000* salinity: 33.375198, density: 1025.000000* values[0]: 0.574226F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041243.883165 s.y-K~,<,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237608@ elevatorAngleAction: -0.085676< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743041243.883316F (some fields omitted in printout)A(@A @AIY~? ArA2F%"AA1nNA"AZAbAjArAzAAAE@AB]>FtAl@AB,<A=AA.?A@ƿAO׹*A9?2A{Tֽ:A =BA9?JA{TֽRA =٘i)I9l@YG JJJJJ.F&K Y Y~?y1EAF79)BE[[Mđ[\Y~?[;ڪ[[[[BZYY i) 'Ii"^@p*= -?)) -?-?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041243.903165 s, next control iter: 1743041244.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041244.303165 s.Y-K~,g,AJ"J*J2J:J?BJ?nJ5vJAQ@A .D@AZ~? ACA %"AA{>nNA"AZAbAjArAzAAA T @Az<R3GtAk@A:Aʩ=AA?AĿAŧ*A29?2AȒԽ:A^Q=BA29?JAȒԽRA^Q=٘i)I9k@YG J麼JJJJ/F&K Y&Y~?y2EAFѨ9)BE[[m[rY~?[(ܪ[[[[BZYY i) oIiZ@[ = $?))$?$?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041244.323165 s, next control iter: 1743041244.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14743., header.stamp.nsec: 0.0 temperature: 13.569173.* salinity: 33.375217., density: 1025.000000.* values[0]: 0.573573.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041244.723165 s.-K~,H.,AAz@Aa⏢z@A-Z~? AA%"AAdnNA"AZAbAjArAzAAA Ɇt @Aa>6HtAFk@AK A|=A \A?A O¿A2*A9?2Aս:AYN=BA9?JAսRAYN=٘i)I9Fk@Y1G JQJJJ_FJ1F&K YBY~?y3DAF779)BE[[ù~[͈Y~?[ݪ[[[[BZYY i) GIiW@ = ja ?))ja ?ja ?Y7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041244.743165 s, next control iter: 1743041245.123175 s, wait time: 0.380010 s"BY~?)"3 rAdjusting time to match Gazebo time: 1743041245.143165 s.^/-K~,(*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: -0.085676< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743041245.143299F (some fields omitted in printout)A ףp@ASUh@AFZ~? AkA%"AAnNA"AZAbAjArAzAAA {/N!@A- ItAj@AaA-=AAp?AxAz*A 9?2Amս:AQ1=BA 9?JAmսRAQ1=٘i)I9j@YG JyJJJJ2F&K Y^Y~?y4 Y%{Y~?y4CAkFZ7SI719)BE[[Y[Y~?[6[[[[BZYY i) +ȼIiP@;t= ޙ?)){ޙ?ޙ?/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041245.583165 s, next control iter: 1743041245.963184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14744, header.stamp.nsec: 00 temperature: 13.569347* salinity: 33.375237, density: 1025.000000* values[0]: 0.572927F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041245.983165 s.J "J -K~*J2J,~,A:J?BJ?nJ5vJA\(@A@AyZ~? A A5%"AAJnNA"AZAbAjArAzAAAR6]A"@AJtAXi@AoA=Am;A=?AAAϼ*A89?2ATnս:A =BA89?JATnսRA =٘i)I9Xi@YG JʼJJJJ5F&K YYY~?y5NCAF77{79) BE[[+`G[qY~?[[[[[BZYY i) 6ϼIi}L@= 7?)) 7?7?NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041246.003165 s, next control iter: 1743041246.383185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743041246.403165 s.&-K~,͙,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085676< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743041246.403330F (some fields omitted in printout)AQ^@AQ@AœZ~? A!A%"AARoNA"AZAbAjArAzAAA"#@ACNJKtAh@Ag;Aµ=Ae<AvN?A`ؿAJ׼*A/9?2Aӽ:Aع=BA/9?JAӽRAع=٘i)I9h@Y G J?ӼJJJJ6F&K YY~?y#5BAF)7ŧ7Ʊ9TB)BE[[+4[Y~?[[[[[BZYY i) ׼IiH@= ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041246.443165 s, next control iter: 1743041246.803178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14745", header.stamp.nsec: 0"0 temperature: 13.569552"* salinity: 33.375233", density: 1025.000000"* values[0]: 0.572222"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041246.823165 s.-K~,:,AJ"J*J2J:J}?BJ}?nJ5vJAGz@A=~o@AZ~? A"A%"AAt'oNA"AZAbAjArAzAAA^3m#@AKtAg@APW<A=A6=A Z?A@ A޼*A49?2AHԽ:A\7 =BA49?JAHԽRA\7 =٘i)I9g@Y( G JڼJJJJ8F&K YY~?yD5_BAF7779)B[["[Y~?[,[[[[ZZ¸BZYY i¸Jf=) ˼IiE@<  ?)) ? ?fYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041246.843165 s, next control iter: 1743041247.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041247.243165 s.-K~,Ϸ,AAףp=@Aŏ1@AZ~? A#As%"AANoNA"AZAbAjArAzAAA \$@A>LtA53g@AT<A =A@E=Ad?AجA*A9?2A{Խ:A =BA9?JA{ԽRA =٘i)I93g@Y G J߼JJJJ9F&K YY~?yd5AAFj7Z7[9)BE[[F[Z~?[?[[[[ZZBZYY i) _IiB@P6< &>%?))&>%?&>%?[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041247.263165 s, next control iter: 1743041247.643181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743041247.663165 s.-K~,q,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084179< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743041247.663281F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14746, header.stamp.nsec: 00 temperature: 13.569765* salinity: 33.375244, density: 1025.000000* values[0]: 0.571460F (some fields omitted in printout)A@A{@AwZ~? A$A(g%"AAuoNA"AZAbAjArAzAAA1,n$@A~ӓLtA~df@A ;A=A =Ai?A JA_6*AH9?2Am)ս:A;<BAH9?JAm)սRA; YZ~?y4rAA=F77&9)!BE[[Z[z&Z~?[.[[[[ZZBZYY i)  Ii>@\O< )?))Sx)?)?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041247.683165 s, next control iter: 1743041248.063174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743041248.083165 s.D.K~,R,AA)\5@A=(@AlZ~? At$A]%"AABoNA"AZAbAjArAzAAAν +%@AA t?A35Ak*A9?2AePԽ:AZ<BA9?JAePԽRAZ<٘i)I9d@Y. G JjJJJJ=F&K YG@Z~?y 3@AF7{79SB).BE[[)[TZ~?[[[[[ZZBZYY i) %Ii6@)< J3?)) J3?J3?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041248.523165 s, next control iter: 1743041248.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14747, header.stamp.nsec: 00 temperature: 13.570046* salinity: 33.375240, density: 1025.000000* values[0]: 0.570514F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041248.923165 s.:.K~,;,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084179< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743041248.923308F (some fields omitted in printout)A{G@Ac>@Ah/[~? A$A^U%"AAoNA"AZAbAjArAzAAA_&@A>BLtASc@AToA1=A->Av?Ach?Aͼ*A9?2AɉԽ:A;BA9?JAɉԽRA;٘i)I9c@Y G JB=JJJJ>F&K Yd\Z~?y^2@AFb7b79)3BE[[6,[lZ~?[:[[[[ZZBZYY i) #Ii2@< T 8?))T 8?T 8?yYPYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041248.943165 s, next control iter: 1743041249.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041249.343165 s.<.K~,U,AJ"J*J2J:J?BJ?nJ5vJAp= @A%̴@AhI[~? A$AU%"AAnpNA"AZAbAjArAzAAA$.Z p'@A>Y%-LtAQc@A1=AW<Am*>A/v?A?AN*A9?2AԽ:A,BA9?JAԽRA,٘i)I9Qc@YY G JC=JJJJ@F&K Y~xZ~?y1?AF77Q9)8BE[[lC[Z~?[[[[[ZZBZYY i) ",Ii/@< T>A s?AS?A*Am9?2A!?ս:AYBAm9?JA!?սRAYY^@>>y7{<3:ٓHq?Ǻǿ ?@?@q?+R?SrpF??)^@ I٘i)I9b@Y G JJ9JJJAF&Kt> YPZ~?y/?A>>F77779PB):BE[[d[Z~?[[[[[ZZBZYY i]=) 1rIi*@< A?))tA?A?+pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041249.783165 s, next control iter: 1743041250.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041250.183165 s.".K~,g,AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.238997> elevatorAngleAction: 0.065791< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743041250.183276F (some fields omitted in printout)A(\B@A ˂5@Aa}[~? A#A_%"AA9bpNA"AZAbAjArAzAAA[.(@A C>yLtAib@An"<AϻAS>A1m?A?AnB*A9?2Aս:Aǫ|BA9?JAսRAǫ|٘i)I9ib@Y G JnJJJJBF&K Y#Z~?yW.?AF{7Z79)=BE[[/4/[{Z~?[[[[[ZZBZYY iVɛ=) .^IiM&@,<  SF?))Q SF? SF?6(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041250.223165 s, next control iter: 1743041250.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743041250.603165 s.54).K~,,AAQx@AEk@AU[~? AN#Ai%"AApNA"AZAbAjArAzAAA/*UH)@AcWLtA(b@A_<AzA!h>A zg?A?A\Ի*A9?2A>ӽ:AʲBA9?JA>ӽRAʲ٘i)I9(b@Y G JyJJJJDF&K YZ~?y,s?AFb7b79)?B[[Q<[:Z~?[[[[[ZZBZYY i) KIiJ"@< ("K?)) ("K?("K?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041250.623165 s, next control iter: 1743041251.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14749 , header.stamp.nsec: 0 0 temperature: 13.570386 * salinity: 33.375290 , density: 1025.000000 * values[0]: 0.569224 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041251.023165 s.Z0.K~,{,AJ"J*J2J:JBJnJvJAHz@A,,@A@[~? A"A&w%"AApNA"AZAbAjArAzAAAc|(ѳ)@AKtA b@A+"<AA |>A`]]?A_?AZ޺*A9?2Aӽ:AV˼BA9?JAӽRAV˼٘i)I9 b@Y G JJJJJEF&K YZ~?y+e?AF77|9OB)E[[)H<[#Z~?[[[[[BZYY i) \7Ii@M< O?))O?O?y)=25*YSYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041251.043165 s, next control iter: 1743041251.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041251.443165 s.46.K~,1]ܸ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076068< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743041251.443302F (some fields omitted in printout)Aq= @A@A[~? A!A[%"AA&pNA"AZAbAjArAzAAA7*@AeJlKtA b@A~?:A=T5A>A`rP?A E?A`:M;*A9?2A Խ:AFBA9?JA ԽRAF٘i)I9 b@Y G J9JJJJFF&K Y[~?yn)X?AFF9)>BE[[<=[/Z~?[[[[[BZYY i) #Iiv@< T?))T?T?s*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041251.463165 s, next control iter: 1743041251.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14750, header.stamp.nsec: 00 temperature: 13.570300* salinity: 33.375298, density: 1025.000000* values[0]: 0.569130F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041251.863165 s.+=.K~,>,AJ"J*J2J:JBJnJvJA@A @A[~? A A%"AAQpNA"AZAbAjArAzAAA^u +@ACflJtA/b@AJA[A>A@?A`?Ao;*A9?2A8Խ:ABA9?JA8ԽRAYPX=FG>yU[ٓH?ҿק ??kz jw?y?)PX= I٘i)I9/b@Y G Jӧ;JBJJJHF&Kq> Y[~?y&?AG>F{7j79NB)=BùE[[DŽ=[[~?[E[[[[BZYY ij=) WIi@]< ԨY?))rԨY?ԨY?W*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041251.903165 s, next control iter: 1743041252.263181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743041252.283165 s.5RD.K~,,AA(\O@AO7PB@A[~? AQA%"AA`&qNA"AZAbAjArAzAAAk+@Ax3ǫItAob@AshA9{A3<>AV.?A꘾?Ap9<*Aq9?2AԽ:ABAq9?JAԽRA٘i)I9ob@Y G Jx<JJJJIF&K Y9[~?yv$?AF{79):BƹE[[ڐ=[)[~?[[[[[BZYY i) .Ii@J< ^?)) ]^?^?e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041252.303165 s, next control iter: 1743041252.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14751., header.stamp.nsec: 0.0 temperature: 13.570105.* salinity: 33.375324., density: 1025.000000.* values[0]: 0.569377.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041252.703165 s.J "J *J 2J :J ?BJ ?nJ 5vJ ٺJ.K~,-,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.256569> elevatorAngleAction: 0.057323< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743041252.703278F (some fields omitted in printout)AQ@Ax@AO\~? AA%"AASMqNA"AZAbAjArAzAAA.0VV,@Ao}HtAb@ADAAg>A ?A #A?Ar/s<*A9?2AZҽ:AcBA9?JAZҽRAc٘i)I9b@Y G JU<B=JJJJJF&K YT[~?y!6@AFb7b79MB)7BɹE[[z=[A[~?[[[[[BZYY i=) Ii @;< ec?)) ec?ec?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041252.723165 s, next control iter: 1743041253.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743041253.123165 s.9Q.K~,eG,AAG@ASAEխ@A1\~? A\A5%"AA%tqNA"AZAbAjArAzAAA?M,@AfGtA7c@AjAK쑽A>A@?A?AA<*A:?2Aiӽ:A|BA:?JAiӽRA|٘i)I97c@YI G J<C=JJJJLF&K Yp[~?y~@AF777q9)3B̹E[[j =[Y[~?[*[[[[BZYY i) `$ŻIi? @< HQh?))HQh?HQh?y#k=6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041253.163165 s, next control iter: 1743041253.523181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743041253.543165 s.IX.K~,b,AJ"J*J2J:JBJnJvJA= ף@A:̗@AUK\~? AA%"AAҚqNA"AZAbAjArAzAAAB)--@A>A?AX?AIY<*A :?2APԽ:ABA :?JAPԽRA٘i)I9c@Y G J<JJJJMF&K Y<[~?y@AF77<9)/B[[%>[0r[~?[)[[[[BZYY i) *Ii@"< dEm?))dEm?dEm?y`=*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041253.583165 s, next control iter: 1743041253.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14752, header.stamp.nsec: 00 temperature: 13.569808* salinity: 33.375340, density: 1025.000000* values[0]: 0.569936F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041253.963165 s.z^.K~,},AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066840< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743041253.963289F (some fields omitted in printout)Affff&@A\@Ad\~? AA)%"AAUqNA"AZAbAjArAzAAAB%.@A0 ۭEtAR2d@AnY<A.A->A 7?A@O?AН<*Ax :?2AMս:A\ BAx :?JAMսRA\ Y5*>L>y RZ<ٓH@?`+ؿ@`?}? bि\?`6??)5*> I٘i)I92d@Y G J<JVJJJNF&Kr> Yg[~?y1AAL>F79LB)*BϹE[[c$>[ [~?[[[[[BZYY i) Ii@^< (r?)):q(r?(r?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041253.983165 s, next control iter: 1743041254.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041254.383165 s.e.K~,',AJ"J*J2J:JBJnJvJA(\@A\S O@A}\~? AAO%"AAqNA"AZAbAjArAzAAAK֢.@Ad`pDtA?d@AbS<AoA0>A?A^?A.<*A :?2Aeս:Ag BA :?JAeսRAg I٘i)I9d@Y5 G JС<JJJJPF&K Y[~?ydAAFj7j79KB)&BҹE[[8>[ [~?[[[[[BZYY i) PIi?< w?))w?w?]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041254.403165 s, next control iter: 1743041254.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14753&, header.stamp.nsec: 0&0 temperature: 13.569457&* salinity: 33.375355&, density: 1025.000000&* values[0]: 0.570640&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041254.803165 s.}Al.K~,g,AA@A27߄@A\~? AAx%"AA rNA"AZAbAjArAzAAAaV/@ACtAaIe@AO;AfAD>A?Ap?A<*A-:?2AL)ӽ:A BA-:?JAL)ӽRA ٘i)I9Ie@Y G Jo<JJJJQF&K Y[~?yBAF779)!BֹE[[=K>[$[~?[M[[[[BZYY i) Iir?*< *|?)) *|?*|?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041254.823165 s, next control iter: 1743041255.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041255.223165 s.gs.K~,Hι,AJ"J*J2J:J,?BJ,?nJF5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066840< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743041255.223313F (some fields omitted in printout)Az@A@A\~? A7A%"AA3rNA"AZAbAjArAzAAAw /@AptXAtADe@A>ALaA>A@r?A +?A<*A8:?2Aҽ:Agw BA8:?JAҽRAgw ٘i)I9e@Y G J<JJJJRF&K Y[~?yjBAF77f9HB)B׹E[[`>[O[~?[[[[[BZYY i) YIi?Z< ?))??*YFFF]G:Waiting for Gazebo time sync: latest Gz time: 1743041255.243165 s, next control iter: 1743041255.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041255.643165 s.ty.K~,),AA ףp@A'd@A\~? AA%"AAuYrNA"AZAbAjArAzAAA1Y9B0@A&@tAyf@AÀHA,AT>A`N?A@K?A<*A9:?2A6ӽ:A5 BA9:?JA6ӽRA5 ٘i)I9yf@YE G J<B=JJJJTF&K Y \~?yw BAFj7j719)B[[,t>[[~?[ު[[[[BZYY i) >:Ii:?<  ?)) ? ?H*Y#YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743041255.663165 s, next control iter: 1743041256.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14754, header.stamp.nsec: 00 temperature: 13.569070* salinity: 33.375362, density: 1025.000000* values[0]: 0.571383F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041256.063165 s..K~,[ ,AJ"J*J2J:JBJnJvJA33333@AAA)&@Ac\~? A A%"AA~rNA"AZAbAjArAzAAA]0@A#҃>tAg@A=`AoAT>A (?A?A<*A#::?2AKӽ:AG BA#::?JAKӽRAG YB>r>y`ٓH`;?`ݿŲ`ʺ?` T?@^?y?)B> I٘i)I9g@Y G J<J7RJJJUF&Kq> Y '\~?y]:CA>F779GB)BڹE[[ >[g\~?[ݪ[[[[BZYY i) k9Ii.?ʢ< ,?))p,?,?~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041256.083165 s, next control iter: 1743041256.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041256.483165 s.y_.K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.234908> elevatorAngleAction: 0.066840< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743041256.483270F (some fields omitted in printout)A\h@A[@A\~? AJ A:%"AA/rNA"AZAbAjArAzAAAk$0@AO[R\~?[۪[[[[BZYY i) d2:Ii?%< 7?))Y7?7?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041256.503165 s, next control iter: 1743041256.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14755, header.stamp.nsec: 00 temperature: 13.568656* salinity: 33.375385, density: 1025.000000* values[0]: 0.572207F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041256.903165 s.ȍ.K~,9,AJ"J*J2J:J|?BJ|?nJ5vJAQ@Akծ@A&]~? AWAr%"AA&rNA"AZAbAjArAzAAAA 1@A"&;tACh@AMb;AcѕAZ?A?A@?A<*A]:?2AGӽ:A7dBA]:?JAGӽRA7d٘i)I9Ch@Y\ G Jc<B=JJJJXF&K YY\~?y* DAF779EB)BE[[W<>[R2\~?[ت[[[[BZYY i) %R;Ii?(Z< ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041256.943165 s, next control iter: 1743041257.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743041257.323165 s.|.K~,>T,AAGz@AKTo@A@*]~? A<A%"AArNA"AZAbAjArAzAAAA/i1@A,8k#9tAh@A0P4<AUA{ ?A`(?A5?A<*Ag:?2Avӽ:AZBAg:?JAvӽRAZ٘i)I9h@Y G Jר<C=JJJJYF&K Yq\~?yrDAFŧ7ŧ7\9DB)BE[[q>[WJ\~?[m֪[[[[BZYY i) V}T;Ii?Cw< M$?))M$?M$?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041257.343165 s, next control iter: 1743041257.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14756*, header.stamp.nsec: 0*0 temperature: 13.568241** salinity: 33.375404*, density: 1025.000000** values[0]: 0.572994*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041257.743165 s.W.K~,uo,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066840< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J*J dt: 0.4200222J2 time: 1743041257.743321F (some fields omitted in printout):JBJnJvJAףp= @Ag}1@A&B]~? AA%"AA;sNA"AZAbAjArAzAAAlN1@Age'7tAYi@Ah<A0A[?AGx?A-W?Aן<*AJg:?2A Խ:AEBAJg:?JA ԽRAE٘i)I9Yi@YG JR<JJJJZF&K Y\~?yDAFb7b7'9)B[[C>[`b\~?[Ӫ[[[[BZYY i) V;IiD?ln< >?))>?>?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041257.763165 s, next control iter: 1743041258.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041258.163165 s.}.K~,q,AA@@AY2@AY]~? AAA,%"AAQ6sNA"AZAbAjArAzAAAq#1@A1u5tAOi@A'!<AUA'?A F?A-?A*<*AEe:?2A`Խ:Ad)BAEe:?JA`ԽRAd)Yjĺ>z?yS"<ٓH? @ ?@B? q?/6??)jĺ> I٘i)I9i@YVG JϞ<J`<JJJ\F&Kr> Y\~?y;EAz?F779)BE[[>[y\~?[9Ѫ[[[[BZYY i) N;Ii6?a< @?))֔p@?@?f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041258.183165 s, next control iter: 1743041258.563189 s, wait time: 0.380024 s rAdjusting time to match Gazebo time: 1743041258.583165 s. .K~,&S,AJ"J*J2J:JBJnJvJA)\u@A=h@AQq]~? A Ao%"AAZsNA"AZAbAjArAzAAA9rMA2@A',2tA*dj@Az9AA0?A ?Am?A:<*Afb:?2A Խ:ABAfb:?JA ԽRA٘i)I9dj@YG J(<JJJJ]F&K Y\~?yAEAF)779@B)BE[[$>[\~?[cΪ[[[[BZYY io@=) ;Ii?9U< є?))uє?є?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041258.603165 s, next control iter: 1743041258.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14757, header.stamp.nsec: 00 temperature: 13.567869* salinity: 33.375404, density: 1025.000000* values[0]: 0.573725F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041259.003165 s.z .K~,U4,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.254800> elevatorAngleAction: 0.075806< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743041259.003322F (some fields omitted in printout)AR@Ay@A]~? A\A>%"AA}sNA"AZAbAjArAzAAAsBÇ2@A]V0tAj@A;oAA6?A$?A`?A=<*A:?2Aҽ:ARBA:?JAҽRAR٘i)I9j@YG \~?)AJ<JJJJ^F&K Y\~?yfEAFŧ79?B)BE[[w|>[>\~?[a˪[[[[BZYY i) A;Ii?`K<  g?))  g? g?i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041259.023165 s, next control iter: 1743041259.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041259.423165 s.u.K~,ۺ,AJ"J*J2J:JBJnJvJA{G@A!=@A]~? AA%"AAsNA"AZAbAjArAzAAAϫ52@ANzT.tAmk@AdARAt$?Aϥ?AҲ?Ai<*AԆ:?2A@ҽ:AWgBAԆ:?JA@ҽRAWg٘i)I9mk@YIG Jk<JJJJ`F&K Y9\~?y[FAF)7b7Q9)B[[/>[\~?[3Ȫ[[[[BZYY i)  B)ޯBE[[#g>[o\~?[Ī[[[[BZYY i)  elevatorAngleAction: 0.075806< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743041260.263285F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@A?@A]~? AtA+%"AAsNA"AZAbAjArAzAAADsPV3@AUdf)tApkl@A8AA.?A/?AK?AZ<*A-x:?2AXԽ:APtBA-x:?JAXԽRAPtY>.?y 8ٓH`? 3 ī r(??@Q?Sg@4?)> I٘i)I9kl@YG Ju<J;JJJcF&K^r> Y]~?y ڪGA.?FZ7Z79=B)ٯBE[[>[\~?[b[[[[BZYY i) z []~?[[[[[BZYY i) /[]~?[칪[[[[BZYY i) t? elevatorAngleAction: 0.075806< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743041261.523299F (some fields omitted in printout)AHz@AH @A^~? AKݫA%"AA#JtNA"AZAbAjArAzAAArTw4@A*]!tAm@A@N<AȉAf>?A`j?A@?A#<*AL:?2Aӽ:A%OBAL:?JAӽRA%O٘i)I9m@YG J<JJJJgF&K YjX]~?yrɪ0HAF77G97B)ɯBE[[u:?[4]~?[쵪[[[[BZYY i) "N[?Q < (%?))(%?(%?*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743041261.543165 s, next control iter: 1743041261.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14760, header.stamp.nsec: 00 temperature: 13.566810* salinity: 33.375439, density: 1025.000000* values[0]: 0.575763F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041261.943165 s.[d.K~,O]|,AJ"J*J2J:JBJnJvJAq= #@A@A$^~? AثA9%"AAjtNA"AZAbAjArAzAAA>I_4@A57tAMn@A;AO5ApVC?A r'?A t?A<*A:?2A0Խ:ABA:?JA0ԽRA٘i)I9Mn@Y G J<JJJJhF&K YQn]~?yêHAF77{79)ůB[[ߕ ?[WK]~?[[[[[BZYY i) ko^,AAY@ARL@A,9^~? AӫA4L%"AAtNA"AZAbAjArAzAAA2ˡ64@ANĚtA9n@A柧AzANH?A?Al1?A\.<*A|:?2ATԽ:A BA|:?JATԽRA YQN?fH?yzٓHF? o$}??jK`?t_?)QN? I٘i)I9n@YWG Jə<J[;JJJiF&Kr> YW]~?yHAfH?F)7b796B)BE[[?[a]~?[y[[[[BZYY i) m elevatorAngleAction: 0.075806< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743041262.783295F (some fields omitted in printout)A(\@A[;Q@AM^~? AΫA%"AAtNA"AZAbAjArAzAAA HYX44@A+#&tAUo@AaOAvdA_M?A?A@?A<*At:?2AwԽ:AgBAt:?JAwԽRAg٘i)I9Uo@YG J!<JJJJkF&K Y[]~?ywTIAF77795B)BE[[:?[w]~?[[[[[BZYY i6=) K| elevatorAngleAction: 0.084577< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743041264.043290F (some fields omitted in printout)A= ף0@A["#@AQ^~? ArAD%"AAuNA"AZAbAjArAzAAAyd;5@A|%tAWp@AG3;AqA\?A`w?A?A}<*A}:?2A2Խ:ABA}:?JA2ԽRA٘i)I9p@YG J<B=JJJJoF&K Yl]~?yդJAF779/B)BE[[g%?[]~?[[[[[BZYY i) H; !K?))!K?!K?y{=o*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041264.063165 s, next control iter: 1743041264.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041264.463165 s.R/K~,פ,AJ"J*J2J:JBJnJvJAfffff@A\Y@Aĝ^~? A A=%"AA$uNA"AZAbAjArAzAAA(j>05@A tA~q@A9<A垽A9b?A``?A?AY <*A6r:?2A~ս:ANBA6r:?JA~սRANYz)?b?y9㞽9<ٓHB? B?K?`*M׳?@ ??)z)? I٘i)I9q@YG J{<C=JRFJJJpF&Ks> YX]~?y JAb?F77j79)B[[*?[]~?[v[[[[BZYY i) <*; b?))Wgub?b?b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041264.503165 s, next control iter: 1743041264.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14763, header.stamp.nsec: 00 temperature: 13.565734* salinity: 33.375496, density: 1025.000000* values[0]: 0.577884F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041264.883165 s.z /K~,b8,AA(@Av3@Aڰ^~? AAM%"AABuNA"AZAbAjArAzAAAG 6@AwtAbr@A_c; (?)).-(?(?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041264.903165 s, next control iter: 1743041265.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041265.303165 s.V/K~,wgS,AJ"J*J2J:J?BJ?nJ75vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260110> elevatorAngleAction: 0.084577< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743041265.303321F (some fields omitted in printout)A@A4@A^~? AڮAd%"AA^uNA"AZAbAjArAzAAAB6@AtAIr@A5<AAzl?A@^?A ?A?<<*Ay:?2Ao%Խ:ABAy:?JAo%ԽRA٘i)I9r@YG J}<JJJJsF&K Y2^~?ypKA FZ7SI7g9)B[[5?[r]~?[[[[[BZYY i) =;; z?)) z?z?=*YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743041265.343165 s, next control iter: 1743041265.703177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14764*, header.stamp.nsec: 0*0 temperature: 13.565408** salinity: 33.375511*, density: 1025.000000** values[0]: 0.578606*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041265.723165 s./K~,Hn,AAz@A$_ @A^~? AA%"AAzuNA"AZAbAjArAzAAA}*qz6@An`tA7s@AyA˨APq?Acc?A?A<*Ar:?2AԽ:ABAr:?JAԽRA٘i)I97s@YG Jc<JJJJtF&K Y^~?y*LA F7729&B)BE[[,r;?[ ^~?[[[[[BZYY i) ,; A?))A?A?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041265.763165 s, next control iter: 1743041266.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743041266.143165 s.T/"/K~,),AJ"J*J2J:J8?BJ8?nJl5vJA ףp=@Ak d0@A^~? A6A;%"AAkuNA"AZAbAjArAzAAA/m6@AlusA=s@AAAL>v?A@ ?A>: a ?))a ?a ?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041266.163165 s, next control iter: 1743041266.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743041266.563165 s.(/K~,V ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084577< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743041266.563281F (some fields omitted in printout)A3333s@A$)f@A^~? A;Ai%"AAnuNA"AZAbAjArAzAAAw^6@AeLCsAt@AifAǭAGW{?A`j?A?A<*A^:?2AԽ:ABA^:?JAԽRAYC?{?yIí>gٓH a?@ @@?k?> ཱ?̌?)C? I٘i)I9t@YG Je<B=JJJJwF&K/t> Y;^~?y{ MA{?F779%B)B E[[@F?[4^~?[cy[[[[BZYY i)  elevatorAngleAction: 0.084577*J< massPositionAction: 0.0000002J4 buoyancyAction: 0.000500:JBJnJ dt: 0.420024vJ2 time: 1743041267.823325F (some fields omitted in printout)AGz@A>!;o@A+_~? AA]%"AAuNA"AZAbAjArAzAAA0oH7@AAsA΅v@A<AJA䠅?A>7?Ax?A.<*A]:?2AUս:AJBA]:?JAUսRAJ٘i)I9v@Y G J<JJJJ{F&K Yj^~?yegNAFb7' 9)mB[[gW?[qn^~?[f[[[[BZYY i) 1AKM%"AAsvNA"AZAbAjArAzAAAnį7@A,0ysA2w@Aۍ_<AЫAF?A v?A'?AL<*A#U:?2A ս:ABA#U:?JA սRA٘i)I92w@YtG J <JJJJ|F&K YCz^~?y>^NAF7779 B)fBE[[]?[^~?[`[[[[BZYY i) { Yx^~?ywVUOA?Fb779)`B[[jb?[ђ^~?[\Y[[[[ZZZZ¸>BZYY i¸>) sAx@Aū;A #A`?AZ?AZN?A<*AD:?2ADֽ:ABAD:?JADֽRA٘i)I9x@YKG Jj<C=JJJJF&K Y^~?yNOAF7779B)VBE[[nh?[Y^~?[R[[[[ZZZZBZYY i)   8?)) 8? 8?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041269.523165 s, next control iter: 1743041269.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14768, header.stamp.nsec: 00 temperature: 13.563771* salinity: 33.375542, density: 1025.000000* values[0]: 0.582053F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041269.923165 s.8^/K~,{,AA{G!@AgaO;@Aw_~? AiAO%"AA[svNA"AZAbAjArAzAAA?Qd8@AIIsA Bz@AlOAAO?AY?A v?Aڢ=*Ag:?2AԽ:ABAg:?JAԽRA٘i)I9Bz@YPG J=JJJJF&K Y^~?y(?PAF779)IB[[ts?[M^~?[OD[[[[ZZZZBZYY i) ׮ Y^~?y7/uQA?F779B)7BE[[?[b^~?[5[[[[ZZZZBZYY i) ;AM˼Aq/?A?A@?Aͣ<*Ae:?2A>ֽ:A 4;BAe:?JA>ֽRA 4;٘i)I9|@YG J<JJJJF&K Y^~?y 'QAFb77}9B)1BE[[?[^~?[-[[[[ZZZZBZYY i) B7,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743041272.863280F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AA*Ŏ@A_~? A7A%"AAcvNA"AZAbAjArAzAAASm9@A tsA}@AaA0=A/?A? VŠQ?)y? I٘i)I9}@Y_G J@j;J6>JJJF&Kv> Y^~?y1RA?"F"9)#B[[\|?[-_~?[[[[[BZYY i3m) zH Y_~?y۩QA?)F+9)(B[['{?[ug_~?[[[[[BZYY i}l) /;IőH?ijJ K@))K@K@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041274.983165 s, next control iter: 1743041275.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041275.383165 s.ص/K~,Iؾ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J8 propOmegaAction: 25.1328122J< rudderAngleAction: -0.261799:J@ elevatorAngleAction: -0.057769BJ< massPositionAction: 0.000000nJ4 buoyancyAction: 0.000500vJ dt: 0.4200262 time: 1743041275.383320F (some fields omitted in printout)A(@A>@A9`~? A A%"AA RwNA"AZAbAjArAzAAA{4o:@A'̠sA |@A7h<A=A ?AQj?A mn?A~g*A &:?2Aynֽ:A40=BA &:?JAynֽRA40=٘i)I9 |@YgG J6JJJJF&K Y#_~?yҩPA*F)7ŧ7h-9),B[[A?[q_~?[ک[[[[BZYY i) %;IyH?i=w; @))@@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041275.423165 s, next control iter: 1743041275.783179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14774", header.stamp.nsec: 0"0 temperature: 13.562682"* salinity: 33.375584", density: 1025.000000"* values[0]: 0.584159"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041275.803165 s.xA/K~,g,AA@A1A @A`~? AA9%"AA^wNA"AZAbAjArAzAAAOt%/:@A@sA{@A/C<Ad=A$?A (?A Y5_~?y&*OA?0Fb7749):B[[]?["_~?[[[[[BZYY i) N;IYJH?i46 @))@@{ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041277.083165 s, next control iter: 1743041277.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041277.483165 s.w_/K~,^,AA\@A/-@A6(`~? AA%"AA%wNA"AZAbAjArAzAAARL|:@AzsAy1y@A8WA7+=Ab?A U?A@ ?Aԉ*A6:?2A ׽:AV9<BA6:?JA ׽RAV9<٘i)I91y@YG JJJJJF&K Y7_~?y`NA1F77]69B)_~?yMA5F7;9B)GBE[[?[*_~?[[[[[BZYY i) I2H?ihfJ F @))F @F @y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041278.783165 s, next control iter: 1743041279.143182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743041279.163165 s.}/K~,qʿ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066956< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743041279.163291F (some fields omitted in printout)A@Af@A>9`~? AêA&"AAwNA"AZAbAjArAzAAAB:@A??iusA>v@Âb<AK=A?AX?A@ Z?A*A6:?2Avֽ:A<BA6:?JAvֽRA Y>_~?y@0MA?6F{7{7=9)KB[[`*?[_~?[[[[[BZYY i) IG?iR @@))@@@@ؼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041279.183165 s, next control iter: 1743041279.563187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743041279.583165 s./K~,R,AJ"J*J2J:JBJnJvJA)\@AIh˹@A1<`~? AA&"AAwNA"AZAbAjArAzAAAdg:@ANopsAxv@APJ<AFV=AA?AE?Ag?A$*AX4:?2A׽:A_<BAX4:?JA׽RA_<٘i)I9xv@YG JGJJJJF&K Y=_~?yq{LA8Fb77S?9)OB[[G?[T_~?[~[[[[BZYY i) PIfG?iͨX @))@@/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041279.623165 s, next control iter: 1743041279.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14778, header.stamp.nsec: 00 temperature: 13.563625* salinity: 33.375584, density: 1025.000000* values[0]: 0.581555F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041280.003165 s.{ 0K~,Y4,AAR+@Az@A>`~? A|A*(&"AAwNA"AZAbAjArAzAAA2M:@AKiksAu@AA3P=A2?AKҮ?A@Bs?Ask*AB2:?2Ar׽:A<BAB2:?JAr׽RA<٘i)I9u@YG JeJJJJF&K Y<_~?yrxLA9F7A9)SB[[h?[P_~?[zt[[[[BZYY i) 5IG?iqܹ\ K@))K@K@aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041280.043165 s, next control iter: 1743041280.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743041280.423165 s.u0K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066956< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743041280.423284F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@At5=T@A}@`~? AiA&"AAwNA"AZAbAjArAzAAA:@Aź\fsAu@As6A =Ao?A?A{?A{*A/:?2A׽:As<BA/:?JA׽RAs<٘i)I9u@YqG J扼JJJJF&K YZ<_~?yiLA:FB9B)UBE[[??[_~?[j[[[[BZYY i) .I G?i ` @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041280.443165 s, next control iter: 1743041280.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14779, header.stamp.nsec: 00 temperature: 13.563851* salinity: 33.375618, density: 1025.000000* values[0]: 0.580976F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041280.843165 s. 0K~,5,AAp= @Aݯ@AA`~? ATAoc&"AApwNA"AZAbAjArAzAAA <:@A&U3asA u@AgiAv=AE?A`?A?A{*AU-:?2A׽:A\<BAU-:?JA׽RA\<٘i)I9u@Y-G JB=JJJJF&K Y;_~?yaKA<F77{7D9)XB[[)?[_~?[ a[[[[BZYY i͜) 3BŻI G?ib b@))b@b@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041280.883165 s, next control iter: 1743041281.243180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743041281.263165 s.J "J *J 2J :J ?BJ ?nJ 5vJ 0K~,P,AA@A翿@AB`~? A=AX&"AAwNA"AZAbAjArAzAAAvG :@A\sAt@A.!APc=AP?A ю?Al?AE*A*:?2Ae׽:A&<BA*:?JAe׽RA& YP8_~?yHXhKA?=F77}F9)\B[[p?[_~?[zW[[[[BZYY i) mIG?ilT8h #@))#@#@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041281.283165 s, next control iter: 1743041281.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 147802, header.stamp.nsec: 020 temperature: 13.5640582* salinity: 33.3756182, density: 1025.0000002* values[0]: 0.5804482F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041281.683165 s.l0K~,sk,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076565< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743041281.683279F (some fields omitted in printout)A(\@A@AB`~? A%AX&"AAwNA"AZAbAjArAzAAAlLr:@AϬnWsA?t@A2A3 =A_?A Va*?A?A *A#:?2A׽:A/<BA#:?JA׽RA/<٘i)I9?t@YG JJJJJF&K Y4_~?yOKA>FZ7SI7HH9B)^BE[[#?[_~?[M[[[[BZYY i)  IG?i9m q@))q@q@kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041281.683165 s, next control iter: 1743041282.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743041282.103165 s.!0K~,,AJ"J*J2J:JBJnJvJAQ8@A]E+@AB`~? A A^=&"AA wNA"AZAbAjArAzAAA>:@A]WRsAas@A:(<Aē=AV?A`U鍿A`*?Aj*AI:?2Aֽ:Ap=BAI:?JAֽRAp=٘i)I9s@YdG JƄJJJJF&K Yf1_~?yFJA@Fb7b7J9)aB[[$?[֬_~?[D[[[[BZYY i) ImpG?ip @))@@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041282.143165 s, next control iter: 1743041282.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041282.523165 s.'0K~,|,AAHzn@A؀a@AA`~? AAX&"AAPwNA"AZAbAjArAzAAA5:@AG%MsA^s@Ai<A=Ajy?A F+A@?Aĉ*A:?2A\ֽ:A=BA:?JA\ֽRA=٘i)I9^s@YG J#JJJJF&K Y-_~?y >bJAAF777K9B)fBE[[P?[;_~?[T:[[[[BZYY i) Bw!I \G?ir @))@@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041282.543165 s, next control iter: 1743041282.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14781, header.stamp.nsec: 00 temperature: 13.564260* salinity: 33.375603, density: 1025.000000* values[0]: 0.579927F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041282.943165 s.Yd.0K~,F],AJ"J*J2J:Jv?BJv?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076565< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743041282.943287F (some fields omitted in printout)Aq= ף@A,ϖ@A@`~? AzA7y&"AAɰwNA"AZAbAjArAzAAAji:@ANeIsAr@A^<<AĈ=A?ATA 7y?A*A:?2Acֽ:A=BA:?JAcֽRA=٘i)I9r@YG J"B=JJJJF&K Y{*_~?yN5 JABF77{7M9)jB[[}?[ئ_~?[0[[[[BZYY i) .1IGG?iIYs :@)):@:@3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041282.963165 s, next control iter: 1743041283.343181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743041283.363165 s.50K~,}>,AA@A(\@A>`~? ArA&"AAswNA"AZAbAjArAzAAAB|o:@AylYDsAur@A^?6;AE?=A?AvAo?Aw*A :?2A54׽:A=BA :?JA54׽RA=Y??y"?=j6;ٓHs̿k2 o? L~̿;?udf?` ?)? I٘i)I9ur@YG JaC=J(<JJJF&Kx> Y0$_~?y,IA?DFŧ7b7sO9B)lBE[[?[_~?[&[[[[BZYY i) @I2G?i8¿x @))@@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743041283.383165 s, next control iter: 1743041283.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14782&, header.stamp.nsec: 0&0 temperature: 13.564487&* salinity: 33.375595&, density: 1025.000000&* values[0]: 0.579377&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041283.783165 s.[;0K~,,AJ"J*J2J:JR?BJR?nJ5vJA(\@A9S@An<`~? AjA_&"AAMwNA"AZAbAjArAzAAA{qD:@AG 0?sAr@AAB=A*?A Ad?A$։*A):?2A׽:Aq=BA):?JA׽RAq=٘i)I9r@YJG JΉJJJJF&K Y_~?y"$OIAEFj7SI7=Q9)pB[[?[Ɲ_~?[I[[[[BZYY i)  PIG?iſG| 5 @))5 @5 @[êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041283.803165 s, next control iter: 1743041284.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041284.203165 s.C0K~,* ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076565< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743041284.203337F (some fields omitted in printout)AQE@AL8@A9`~? AbAQ&"AAXwNA"AZAbAjArAzAAA%y:@Ab@kH:sAq@Ar_A=A)?A`}AU?A*A9?2A׽:A=BA9?JA׽RA=٘i)I9q@YG JJJJJF&K Y_~?yHAFFŧ7ŧ7S9)tB[[n?[_~?[[[[[BZYY i) _IG?iƿ3~ '!@))'!@'!@sǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041284.223165 s, next control iter: 1743041284.603183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743041284.623165 s.XI0K~,a',AJ"J*J2J:JBJnJvJAGz@ANm@A6`~? AZAM&"AAwNA"AZAbAjArAzAAAmf:@Ac5sAq@A'OAy=A?AAD?Aʑ*A9?2Am׽:Ak=BA9?JAm׽RAk=٘i)I9q@YG JYJJJJF&K YO_~?yHAHF77T9)wB[[e6?[_~?[ [[[[BZYY i) oIF?iǿA SX#@))SX#@SX#@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041284.643165 s, next control iter: 1743041285.023177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14783, header.stamp.nsec: 00 temperature: 13.564711* salinity: 33.375595, density: 1025.000000* values[0]: 0.578816F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041285.043165 s.ǨP0K~,B,AA= ף@A@A&2`~? ARA &"AAwNA"AZAbAjArAzAAA9:@AA0sAp@AMA=AK?A3A@1?A+2*AH9?2A׽:AD =BAH9?JA׽RAD =٘i)I9p@YnG JGB=JJJJF&K Y _~?y` 7HAIF)7b7V9B)|BE[[g?[O_~?[u[[[[BZYY i) ~I7F?iNǿ  $@)) $@ $@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041285.063165 s, next control iter: 1743041285.443191 s, wait time: 0.380026 s rAdjusting time to match Gazebo time: 1743041285.463165 s.UW0K~,],AJ"J*J2J:J?BJ?nJL5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085805< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743041285.463296F (some fields omitted in printout)Affff@AZ[@A-`~? AJA{& &"AAwNA"AZAbAjArAzAAA͌ed:@AD"ѥ+sAp@AR;A#o=A?A xA@?A3*A<9?2Aֽ:AI=BA<9?JAֽRAI=Y??yn=;ٓH7xԿ"Pqo9?Կ `?`;)u? ?)? I٘i)I9p@YG J>C=J!<JJJF&KXx> Y_~?y GA?JF777hX9)B[[?[O_~?[[[[[BZYY i) bцIzF?iEʿt z&@))z&@z&@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041285.483165 s, next control iter: 1743041285.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14784, header.stamp.nsec: 00 temperature: 13.564948* salinity: 33.375591, density: 1025.000000* values[0]: 0.578233F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041285.883165 s.y]0K~,8x,AA(@Aq@A(`~? ABA &"AAwNA"AZAbAjArAzAAARu5j}:@A"p&sAo@AXlR<AIś=AV?A;¿A?A*A9?2Axֽ:A=BA9?JAxֽRA=٘i)I9o@YG JfJJJJF&K Y^~?yiGALF773Z9)B[[?[y_~?[[[[[BZYY i) ]IF?i+̿  (@)) (@ (@$֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041285.903165 s, next control iter: 1743041286.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041286.303165 s.\d0K~,g,AJ"J*J2J:J?BJ?nJ 5vJAQ@AD@A2#`~? A:Ak\ &"AAwNA"AZAbAjArAzAAA3 >l:@AiFk!sAn@A`<A]=A?AĿAb?Aqҫ*Am9?2Awֽ:A&=BAm9?JAwֽRA&=٘i)I9n@YrG J᩼JJJJF&K Y^~?y]GAMF7[9B)B E[[?[o_~?[$[[[[BZYY i) 蕼I}F?i̿2 l)@))l)@l)@y٪YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743041286.323165 s, next control iter: 1743041286.703181 s, wait time: 0.380016 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14785., header.stamp.nsec: 0.0 temperature: 13.385991.* salinity: 33.391636., density: 1025.000000.* values[0]: 0.699189.F (some fields omitted in printout)2^~?)2] rAdjusting time to match Gazebo time: 1743041286.723165 s.k0K~,H,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085805< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743041286.723267F (some fields omitted in printout)Az@AcDz@A.`~? A 3A` &"AA~wNA"AZAbAjArAzAAA|GZ:@AC.sA in@A;;A =A8?AƿA "?Aw@*A 9?2A$ֽ:AÝ=BA 9?JA$ֽRAÝ=I٘i)I9in@YG JJJJJF&K Y^~?yFANF]9)B E[[Q/?[e_~?[ڨ[[[[BZYY i) tIyF?i̿ 2+@))2+@2+@bݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041286.743165 s, next control iter: 1743041287.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743041287.143165 s.U/r0K~,*,AJ"J*J2J:J2?BJ2?nJ;5vJA ףp@AQd@A`~? A8+A &"AAyuwNA"AZAbAjArAzAAACF:@A(gsA;m@AL8A=AS?AaȿA5?A魼*A 9?2Ac:׽:A=BA 9?JAc:׽RA=٘i)I9m@YG JJJJJF&K Y^~?y4FAPF)7b7_9)B[[b?[Z_~?[Ѩ[[[[BZYY i) IoF?io˿2 ,@)),@,@NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041287.163165 s, next control iter: 1743041287.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041287.563165 s.x0K~,V ,AA3333@An,(@A`~? Ap#A' &"AA4kwNA"AZAbAjArAzAAAL1:@AYsA~Dm@A;AQ=Ag@AtoʿA`‰?AM诼*A^9?2At׽:A=BA^9?JAt׽RA=Y?"?y=/C<ٓH ڿ @?ˤڿ~?`Dڴ ?t =?)? I٘i)I9Dm@YhG JJC<JJJF&Kx> Y^~?yبEA?QFS77]a9)B[[?[N_~?[xȨ[[[[BZYY i) ^IYF?ikͿw lY.@))lY.@lY.@~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041287.603165 s, next control iter: 1743041287.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14786, header.stamp.nsec: 00 temperature: 13.386238* salinity: 33.391632, density: 1025.000000* values[0]: 0.698004F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041287.983165 s.0K~,,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085805< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743041287.983316F (some fields omitted in printout)A\(@A^@A`~? AAa &"AA(`wNA"AZAbAjArAzAAA.R[:@AUvWsAl@AfA 3=AT@A'F̿A e?Aߴ*A9?2Acg׽:A=BA9?JAcg׽RA=٘i)I9l@Y G JܱJJJJF&K YH^~?yШSEARF77(c9B)BE[[f?[UB_~?[l[[[[BZYY i) 7IQCF?iUο l/@))l/@l/@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743041288.003165 s, next control iter: 1743041288.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041288.403165 s.&0K~,,AAQ^@A%Q@A_~? AAU&"AAVTwNA"AZAbAjArAzAAA):@A[7@@ sAFl@A7AE=Ar@AοAN>?A*A99?2A7׽:Ag>=BA99?JA7׽RAg>=٘i)I9l@YG JRJJJJF&K Y^~?yȨDATFb7d9B)BE[[f@[5_~?[y[[[[BZYY i) I'-F?i,ο Ȁ1@))Ȁ1@Ȁ1@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041288.423165 s, next control iter: 1743041288.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14787", header.stamp.nsec: 0"0 temperature: 13.386527"* salinity: 33.391663", density: 1025.000000"* values[0]: 0.696753"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041288.823165 s.0K~,O4,AJ"J*J2J:J^2?BJ^2?nJ;5vJAGz@Ao@Ac_~? Ag A`&"AAGwNA"AZAbAjArAzAAA=9@A@}sAqk@A9A=AB@A`ϿA?AܲƼ*A߻9?2A7ֽ:A~=BA߻9?JA7ֽRA~=٘i)I9qk@YLG J@JJJJF&K Y֮^~?ysDAUF{7j7f9B)BE[[ޖ@[''_~?[[[[[BZYY i) t¼IF?i̿3* Q3@))Q3@Q3@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041288.843165 s, next control iter: 1743041289.223185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743041289.243165 s.0K~,iO,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085805< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743041289.243281F (some fields omitted in printout)Aףp=@AN1@AT_~? AA&"AAr:wNA"AZAbAjArAzAAAI{n9@A |sAj@AX"<A3=AP@AxпA?Aϼ*A 9?2A9Lֽ:A5C=BA 9?JA9LֽRA5C=٘i)I9j@YG JʼJJJJF&K Y^~?yDAVFh9)B[[/@[_~?[[[[[BZYY i) ɼIUF?iʿ t4@))t4@t4@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041289.263165 s, next control iter: 1743041289.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041289.663165 s.0K~,qj,AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14788, header.stamp.nsec: 00 temperature: 13.386800* salinity: 33.391670, density: 1025.000000* values[0]: 0.695409F (some fields omitted in printout)A@An@A_~? ARA&"AAb,wNA"AZAbAjArAzAAAyeA|9@A/VcrAj@Aܙh<A]ͳ=Ab@AѿA?Aռ*A9?2AO:ֽ:Am =BA9?JAO:ֽRAm =Y?jw@yȳ= i<ٓH`@@g`? %4?q??)? I٘i)I9j@YxG JҼB=JJs<JJJF&Kx> Yה^~?yCAw@XF77Sj9)B[[n@[7 _~?[T[[[[BZYY i) ѼImE?i˿&T >6@))>6@>6@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041289.683165 s, next control iter: 1743041290.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041290.083165 s.D0K~,R,AA)\5@Anض(@A_~? AA@&"AAwNA"AZAbAjArAzAAAb9@AڻrAbi@A4<Ax=A@A@/ҿA э?Az׼*A̮9?2A4vֽ:AL=BA̮9?JA4vֽRAL=٘i)I9bi@Y G J׼C=JJJJF&K Y^~?yCAYF77l9B)BE[[1a@[7^~?[ۓ[[[[BZYY i) 3ؼIE?i˿G 7@))7@7@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041290.103165 s, next control iter: 1743041290.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041290.503165 s.J "J *J 2J :J 1?BJ 1?nJ }:5vJ 0K~,j4,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085805< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743041290.503324F (some fields omitted in printout)ARk@Az^@A9_~? A|A 6&"AA wNA"AZAbAjArAzAAA(q9@A^=UrAh@A;A伵=A @AsӿAT[?Aּ*A&9?2Aֽ:ASX=BA&9?JAֽRASX=٘i)I9h@Y G J׼JJJJF&K YQx^~?y顨BAZFŧ7b7m9)¯B[[@[^~?[[[[[BZYY i) e߼IƿE?ijʿʋ f9@))f9@f9@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041290.543165 s, next control iter: 1743041290.903185 s, wait time: 0.360020 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14789, header.stamp.nsec: 00 temperature: 13.387143* salinity: 33.391674, density: 1025.000000* values[0]: 0.693980F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041290.923165 s.90K~,,AA{G@A)=@A7_~? A,A&"AAvNA"AZAbAjArAzAAAO9@Ax4rAg@A4AG=Al @A@tTԿA`P&?Aqxռ*A9?2A3׽:A=BA9?JA3׽RA=٘i)I9g@Y. G JcּJJJJF&K Y j^~?yS BA\F7777o9 B)ɯBE[[Б @[@^~?[P[[[[ZZ¸BZYY i¸Ҫ=) `ӼIAE?i3ȿD! :@)):@:@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041290.943165 s, next control iter: 1743041291.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041291.343165 s.<0K~,,AJ"J*J2J:Jy1?BJy1?nJ:5vJAp= @A<*@A_~? AߩAS&"AAvNA"AZAbAjArAzAAAbPs,9@Ax+srAwEg@AaAi=A @A@1տA$?Aռ*A]9?2AeL׽:Aq=BA]9?JAeL׽RAq=٘i)I9Eg@Y G JռJJJJF&K Y[^~?yAA]F77~q9)ϯB[[W( @[^^~?[H{[[[[ZZBZYY i) =ZǼIE?iĿn| <@))<@<@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041291.383165 s, next control iter: 1743041291.743179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14790*, header.stamp.nsec: 0*0 temperature: 13.387491** salinity: 33.391682*, density: 1025.000000** values[0]: 0.692559*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041291.763165 s.A0K~,I,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083410< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743041291.763294F (some fields omitted in printout)A @A{@A­_~? AةA&"AAvNA"AZAbAjArAzAAAΑ9@ACrA~f@AKA =Ay @A`SֿA &?A*A 9?2Am׽:AV<BA 9?JAm׽RAV YK^~?y2AA @^F{7j7Hs9 B)ٯBE[[߿ @[β^~?[^s[[[[ZZBZYY i) _IE?iĿ| #>@))#>@#>@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041291.803165 s, next control iter: 1743041292.163187 s, wait time: 0.360022 s rAdjusting time to match Gazebo time: 1743041292.183165 s.0K~,k ,AJ"J*J2J:J1?BJ1?nJ95vJA(\B@A,σ5@AV_~? AѩAk&"AAvNA"AZAbAjArAzAAA]Rg8@AG0rA G JB=JJJJF&K Y)^~?ys}E@AaFŧ77v9B)BE[[@[^~?[d[[[[ZZBZYY i) lIUE?i{x JA@))JA@JA@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041292.623165 s, next control iter: 1743041293.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14791 , header.stamp.nsec: 0 0 temperature: 13.387843 * salinity: 33.391685 , density: 1025.000000 * values[0]: 0.690905 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041293.023165 s.J "J *J 2J :J 0?BJ 0?nJ v95vJ Z0K~,1|A,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083410< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743041293.023298F (some fields omitted in printout)AHz@A\W@A_~? AéAn}&"AAvNA"AZAbAjArAzAAA[8@A"z@rAd@A?G<A2=A@AؿA@?A׼*A9?2A%ֽ:A;BA9?JA%ֽRA;٘i)I9d@Y G J|C=JJJJF&K Y^~?y[v?AbF777x9)B[[@[w^~?[\[[[[ZZBZYY i) tIAE?it B@))B@B@@{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041293.043165 s, next control iter: 1743041293.423186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743041293.443165 s.;0K~,O]\,AAq= @Ah @ATy_~? A꼩A&"AAvNA"AZAbAjArAzAAAĶi8@Aj rAl[c@AH<Aö<A*@A@OٿA?A)*A9?2Aֽ:A&BA9?JAֽRA&٘i)I9[c@Y_ G JȼJJJJF&K Yr^~?yBoY?AdF7sz9B)BE[[B@[b^~?[_U[[[[ZZBZYY i) zIu-E?ikn sD@))sD@sD@bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041293.463165 s, next control iter: 1743041293.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14792, header.stamp.nsec: 00 temperature: 13.388212* salinity: 33.391693, density: 1025.000000* values[0]: 0.689304F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041293.863165 s.+0K~,>w,AJ"J*J2J:JBJnJvJA@A$ @Ak_~? A)A&"AAwvNA"AZAbAjArAzAAA|a>8@A?rAb@AbN;ASK<Ay@AڿAR}?AV*AO9?2Aֽ:ABAO9?JAֽRAYxt@z@yJ<RP;ٓHzl`'`? Plx}?Fv??)xt@ I٘i)I9b@Y G JžJU;JJJF&KBw> Y}]~?yhL?Az@eF77>|9)B[[@[UM^~?[BN[[[[ZZBZYY i?=) ޞIE?izkim F@))F@F@beYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041293.903165 s, next control iter: 1743041294.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743041294.283165 s.7R0K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064574< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743041294.283269F (some fields omitted in printout)A(\O@AB]PB@Aj\_~? AA &"AAavNA"AZAbAjArAzAAAւ8@ArAvb@Ad㏻A}A@A ڿA9?A -*A9?2AQ_ֽ:AڃBA9?JAQ_ֽRAڃ٘i)I9vb@Y G JbJJJJF&K Y]~?y&b@?AfF77j7~9B)BE[[A@[U7^~?[TG[[[[ZZBZYY i#r=) oIE?ix!j G@))G@G@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041294.303165 s, next control iter: 1743041294.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 147932, header.stamp.nsec: 020 temperature: 13.3884712* salinity: 33.3917202, density: 1025.0000002* values[0]: 0.6882372F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041294.703165 s.պ0K~, ,AJ"J*J2J:JBJnJvJAQ@A)Zx@ANM_~? AA &"AAeKvNA"AZAbAjArAzAAAp57@Ai IrAo?b@AIAhA@AѬۿA`?A&*A9?2A2ֽ:ABA9?JA2ֽRA񮼙٘i)I9?b@Y G JB=JJJJF&K Y]~?y[3?AhFb779B)BE[[@[ ^~?[@[[[[ZZBZYY i) [IdD?igof H))H2,I@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041294.723165 s, next control iter: 1743041295.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041295.123165 s.=0K~,v,AAG@Aխ@A=_~? AuA~ &"AA34vNA"AZAbAjArAzAAA7@AaЉrAb,b@AKeAAY@ApܿAF?A(*A9?2Ap.ֽ:AӼBA9?JAp.ֽRAӼ٘i)I9,b@Y G J5C=JJJJF&K Y]~?y U'?AiF7{79)B[[i@[ ^~?[ :[[[[BZYY i) XHIrD?iGa j`G))j`GKJ@yɚ=4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041295.143165 s, next control iter: 1743041295.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041295.543165 s.I0K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074925< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743041295.543311F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@AR(@A-_~? AA &"AA\vNA"AZAbAjArAzAAA\t;7@A'Lk rAw6b@AV A 2A@A`2ݿA`?Ak;*A9?2Aaֽ:ABA9?JAaֽRA٘i)I96b@Y G J :JJJJF&K Y]~?yzN?AjF77h9B)BE[[@[]~?[3[[[[BZYY i) `4I D?i&[ E))EQL@Kp*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041295.563165 s, next control iter: 1743041295.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14794, header.stamp.nsec: 00 temperature: 13.388580* salinity: 33.391724, density: 1025.000000* values[0]: 0.687846F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041295.963165 s.z0K~,,AAffff&@AZ@Ao_~? AϕA&"AAvNA"AZAbAjArAzAAAz&S7@AQG5rAYb@A)i:AXA@AhݿAS?A;*A9?2Aֽ:ABA9?JAֽRAYb @@yX:ٓH`xn? p?2?$S? ?)b @ I٘i)I9Yb@Y G JZ;JJJJF&Kx> Y]~?yHc?A@lF77739)B[[i@[]~?[-[[[[BZYY i{Dh=) $IٺD?i@EX :>D)):>D{M@*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743041295.983165 s, next control iter: 1743041296.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041296.383165 s.1K~,b,AJ"J*J2J:JBJnJvJA(\@AO@A _~? AA(&"AAuNA"AZAbAjArAzAAA,e) 7@AشqrAb@Aʉ&<AwAT@Aͮ޿A`_?Ax#<*Ak9?2A#ֽ:A)BAk9?JA#ֽRA)٘i)I9b@Y G J<JJJJF&K Y]~?yB?AmF77{79B)E[[)@[}]~?['[[[[BZYY i) !ID?iW T 9B))9B|qO@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041296.403165 s, next control iter: 1743041296.783186 s, wait time: 0.380021 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14795", header.stamp.nsec: 0"0 temperature: 13.388573"* salinity: 33.391724", density: 1025.000000"* values[0]: 0.687990"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041296.803165 s.{A 1K~,g3,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743041296.803335F (some fields omitted in printout)A@A'"@At^~? AA&"AA uNA"AZAbAjArAzAAACT 6@ArAgb@At$_<AsA@Af߿A@q?A}#\<*A^9?2A׽:A) BA^9?JA׽RA) ٘i)I9b@Y G J=<JJJJF&K Yj]~?y<?AoFŧ7b7Ɉ9B)BE[[A @[ک]~?[![[[[BZYY iJ=) }oID?icO oA))oAFQ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041296.843165 s, next control iter: 1743041297.203180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743041297.223165 s.g1K~,HN,AJ"J*J2J:J,0?BJ,0?nJ85vJAz@Az@A^~? AAk&"AAuNA"AZAbAjArAzAAAg6@ArA}Hc@A <AA;@AA A?A<*A9?2Aֽ:A a BA9?JAֽRA a ٘i)I9Hc@YS G J s<JJJJF&K YU]~?y6=@ApF)7ŧ79)B[[`8"@[]~?[G[[[[BZYY i) =ID?iewI (?))(?R@yh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041297.243165 s, next control iter: 1743041297.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041297.643165 s.w1K~, *i,AA ףp@A8h@A^~? A}A&"AAΛuNA"AZAbAjArAzAAAnn;6@A,rATc@AK:A㖽A1@AdA?Ag <*A9?2ASqֽ:A۲BA9?JASqֽRA۲٘i)I9c@Y G J<JJJJF&K Y@]~?y0@AqFb77^9B)B߹E[[#@[w]~?[[[[[BZYY i) ŻIMvD?i`A >))>T@yLj=+*YtReceived state from Gazebo (printed only once in a while):F2 header.stamp.sec: 14796, header.stamp.nsec: 00 temperature: 13.388451* salinity: 33.391743, density: 1025.000000* values[0]: 0.688512F (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743041297.663165 s, next control iter: 1743041298.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041298.063165 s.J "J *J 2J :J B0? 1K~BJB0?nJ85,_ ,AvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066060< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743041298.063295F (some fields omitted in printout)A33333@A'&@A^~? AxAP&"AAQuNA"AZAbAjArAzAAA˼ڝH6@AErA.Fd@AAէAYs @AAu?A<*A9?2A&ֽ:ABA9?JA&ֽRAYx@$~ @yT8ٓH@,5y? /?HzP?`Ӂ X?)x@ I٘i)I9Fd@Y G J`<J.^JJJF&Kw> Y*]~?y+@A~ @sF{7j7)9 B)B۹E[[O%@[]]~?[[[[[BZYY i) 恧IRfD?iK> Qu<))Qu<dU@s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041298.083165 s, next control iter: 1743041298.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041298.483165 s.s_'1K~,,AA\h@A׿[@Aز^~? AwrAԾ&"AADduNA"AZAbAjArAzAAAw6@AGrAd@ADg_AS}A!@A RA?AB<*A;9?2Adֽ:A#BA;9?JAdֽRA#٘i)I9d@YF G Jܫ<JJJJF&K YW]~?yy&UAAtF779)B[[&@[C]~?[ [[[[BZYY i) bIVD?i퐿K9 :)):6W@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041298.503165 s, next control iter: 1743041298.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14797, header.stamp.nsec: 00 temperature: 13.388283* salinity: 33.391750, density: 1025.000000* values[0]: 0.689365F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041298.903165 s.J "J *J 2J :J z0?BJ z0?nJ 95vJ -1K~,͹,AAQ@A̰@Aş^~? AlAJ+&"AAGuNA"AZAbAjArAzAAA)@5@AGGIrAle@A:AÜA> #@A aA@?AL<*A!9?2AMֽ:ABA!9?JAMֽRA٘i)I9le@Y G J|<JJJJF&K Y\~?yB!AAuF7{79"B)BعE[[b(@[)]~?[)[[[[BZYY i) *VIGD?i)h3 ^^9))^^9WX@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041298.923165 s, next control iter: 1743041299.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041299.323165 s.w41K~,),AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066060< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743041299.323292F (some fields omitted in printout)AGz@Ah>n@AV^~? AgAf&"AA*uNA"AZAbAjArAzAAAI*$5@A6rA?f@A|PAA]c$@A ѳA?AR<*A9?2AƬֽ:A BA9?JAƬֽRA ٘i)I9f@Y G J<JJJJF&K Y\~?y $BAwF779#B)BչE[[H)@[:]~?[[[[[BZYY i) MI89D?ia, !7))!7KZ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041299.343165 s, next control iter: 1743041299.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14798*, header.stamp.nsec: 0*0 temperature: 13.388069** salinity: 33.391758*, density: 1025.000000** values[0]: 0.690380*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041299.743165 s.W;1K~,u,AJ"J*J2J:J0?BJ0?nJR95vJAףp= @Ap]1@Ax^~? A^bA&"AA uNA"AZAbAjArAzAAAUc'_5@A.eϝrAf@AO;AcyAZ%@ArA?A<*A9?2A׽:A'}BA9?JA׽RA'}٘i)I9f@YW G J<JJJJF&K Y\~?yBAxF77S9%B)BҹE[[ m+@[\~?[g[[[[BZYY i) #I+D?i.Q# K6))K6[@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041299.763165 s, next control iter: 1743041300.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041300.163165 s.t}B1K~,q ,AA@@As2@Ald^~? A@]ARb&"AAtNA"AZAbAjArAzAAA5"5@A urAB(g@AIV<AA'@ARA X?A*<*A9?2A&׽:A BA9?JA&׽RA Y|@'@y^#?Q0?@ @?6Ԋ?`?)|@ I٘i)I9(g@Y G JP<J;JJJF&KCx> YĶ\~?y^BA'@yF77779)B[[w,@[\~?[O[[[[BZYY i) yI'D?i?x 4))4 \]@!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041300.183165 s, next control iter: 1743041300.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041300.583165 s.H1K~,S%,AJ"J*J2J:J0?BJ0?nJw95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066060< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743041300.583295F (some fields omitted in printout)A)\u@ALP÷h@AO^~? ADXA&"AAtNA"AZAbAjArAzAAACS94@AHlrAzg@AaN<AƖAZ_(@AǞAZ?Ask<*A9?2A׽:A)UBA9?JA׽RA)U٘i)I9g@Y G JO<JJJJF&K Yo\~?y YCA{F779(B)BιE[[x.@[;\~?[o[[[[BZYY i) Ц9IJD?iHoe$ i<3))i<3L^@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041300.603165 s, next control iter: 1743041300.983178 s, wait time: 0.380013 s o\~?) tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14799, header.stamp.nsec: 00 temperature: 13.387846* salinity: 33.391750, density: 1025.000000* values[0]: 0.691410F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041301.003165 s.y P1K~,P4@,AAR@AWx@A,;^~? AiSAE%&"AAtNA"AZAbAjArAzAAA 4@A0"rACh@A;AA )@AA9?A<*A!9?2Aֽ:AIBA!9?JAֽRAI٘i)I9Ch@Y\ G Ji<JJJJF&K Y\~?yo CA|F{79*B)B˹E[[/@[Ϣ\~?[[[[[BZYY i) ʕ:ID?iNd 1))1i`@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041301.043165 s, next control iter: 1743041301.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743041301.423165 s.uV1K~,[,AJ"J*J2J:J 1?BJ 1?nJ95vJA{G@A>@A&^~? ANA&"AAtNA"AZAbAjArAzAAAv(= e4@AkˑrAh@AB'AjA*@A@.A`2?A5<*A9?2A3oֽ:ABA9?JA3oֽRA٘i)I9h@Y G JӨ<B=JJJJF&K Ym\~?y&DA}F77~9+B)BȹE[[z1@[K\~?[Z[[[[BZYY i) R;IoC?iRW t00))t00Aa@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041301.443165 s, next control iter: 1743041301.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14800, header.stamp.nsec: 00 temperature: 13.387655* salinity: 33.391747, density: 1025.000000* values[0]: 0.692400F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041301.843165 s.\1K~,u,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066060< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743041301.843306F (some fields omitted in printout)Ap= @A/ @A^~? AJA&"AAptNA"AZAbAjArAzAAA O1$4@Ax!rA_i@A,EAA*,@A sA ?J?Ap!<*A9?2A@?)@ I٘i)I9i@Y^G Jx<B=JX<JJJF&K x> Y;\~?yDA-@F{79-B)ݯBŹE[[w4@[O\~?[![[[[BZYY i.=) ;IVC?i@ )-)))-d@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041302.283165 s, next control iter: 1743041302.663177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14801., header.stamp.nsec: 0.0 temperature: 13.387458.* salinity: 33.391727., density: 1025.000000.* values[0]: 0.693381.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041302.683165 s.lj1K~,Z,AA(\@Au@A]~? APAAe&"AA.tNA"AZAbAjArAzAAA13@AgrArj@A^AȊA.@AA !?A!<*A9?2Aֽ:ABA9?JAֽRAI٘i)I9rj@YG J<C=JJJJF&K Y"\~?y(JEAFSI7SI7ޡ9.B)ۯB¹E[[5@[3\~?[S[[[[BZYY i) P;IC?i5 +))+wf@'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041302.683165 s, next control iter: 1743041303.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743041303.103165 s.q1K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074797< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743041303.103281F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A{E@A]~? A"=A&"AAr tNA"AZAbAjArAzAAA52V:\3@ACjrAj@A;AA $0@At9A@?A>}<*A9?2Aֽ:ABA9?JAֽRA٘i)I9j@YG J <JJJJF&K Yl\~?y|EAF{7{790B)دBE[[|q7@[\~?[[[[[BZYY i) ;ItC?i)~ٻ ]&*))]&*Xg@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041303.123165 s, next control iter: 1743041303.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041303.523165 s.w1K~,{,AAHz@A*1 @A-]~? A9A/&"AAsNA"AZAbAjArAzAAA׽3@AM`{rAjk@A>J1<AA{1@A /wA`3?A<*A9?2Ag.׽:ABA9?JAg.׽RA٘i)I9jk@YGG J<JJJJF&K Y[~?yFAF77t91B)֯BE[[8@[[~?[`[[[[BZYY i) m;IC?iP ƻ P())P(eyi@yh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041303.543165 s, next control iter: 1743041303.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14802, header.stamp.nsec: 00 temperature: 13.387273* salinity: 33.391747, density: 1025.000000* values[0]: 0.694300F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041303.943165 s.Yd~1K~,F],AJ"J*J2J:J1?BJ1?nJ_:5vJAq= #@A@A_]~? A45AX}&"AA(sNA"AZAbAjArAzAAAYTr˿2@A >rAek@A`<A$A2@AEA@>.?A<*AQ9?2A+׽:AɨBAQ9?JA+׽RAɨ٘i)I9k@YG JΉ<JJJJF&K Y[~?y#gFAFb7>93B)ԯBE[[l`:@[[~?[;[[[[BZYY i) g",AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074797< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743041304.363292F (some fields omitted in printout)AY@ACL@AR]~? Au1A &"AAmsNA"AZAbAjArAzAAAڌ2@A 18rAQl@A?<AqA4@AA U?Ai<*A9?2AEֽ:A|)BA9?JAEֽRA|)Y&@ 4@ypI<ٓH >8ʛԿz$?̙?@IK 'hJ?`4?@?)&@ I٘i)I9Ql@YG JE<JZ;JJJF&K!x> YW[~?yKFA 4@F7ŧ7 94B)ѯBE[[;@[[~?[Dާ[[[[BZYY i) Ԡ@[d[~?[ڧ[[[[BZYY i) / elevatorAngleAction: 0.074797< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743041305.623331F (some fields omitted in printout)AG@A8@AC]~? A'A &"AA Y3[~?yݧHA:@Fj7j79)B[[:C@[5[~?[ק[[[[BZYY i) ] elevatorAngleAction: 0.074797< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743041306.883289F (some fields omitted in printout)A(@A \@AT\~? AAK!&"AArNA"AZAbAjArAzAAAdR0@A\"trADo@AA;AA;@A&A`?AZ<*A9?2Av׽:AABA9?JAv׽RAA٘i)I9Do@YG J{<JJJJF&K YX[~?yۧHAF77{7ɳ98B)BE[[ĆD@[[~?[֧[[[[BZYY i`ϫ=) ..m@A\A@?A<*A9?2A׽:A; BA9?JA׽RA; ٘i)I9Dp@Y;G J:<JJJJF&K YLZ~?yاIAF77_9:B)BE[[^G@[wZ~?[ ֧[[[[BZYY i)  elevatorAngleAction: 0.083892< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743041308.143314F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=@A*g0@A?\~? A{A`!&"AA^rNA"AZAbAjArAzAAA"l/@A}orA8p@A;AIA?@A A?A1<*Ay9?2Atֽ:ABAy9?JAtֽRA٘i)I9p@YG J<JJJJF&K YZ~?y֧#JAFŧ77)9;B)BE[[H@[Z~?[է[[[[BZYY i) ބ\~? ABAw"&"AA)9rNA"AZAbAjArAzAAAX]/@Am"nrAZPq@ALABA A@A@A`?AA<*AR9?2A-Yֽ:ABAR9?JA-YֽRAY 3@ A@y BΫٓH`&2Q?ѿ?<O? iu?) 3@ I٘i)I9Pq@YG JG<JQJJ`FJF&Kx> YƩZ~?yԧJAA@ EFb79)BE[[,/J@[թZ~?[է[[[[BZYY i) ,AJ"J*J2J:J2?BJ2?nJ;5vJA\@A@t@A\~? A0A<"&"AA-rNA"AZAbAjArAzAAAX_.@AUW}lrA:q@A LAAMB@AA`?AO<*A9?2A&ֽ:A"BA9?JA&ֽRA"٘i)I9q@Y6G JM<JJJJF&K YōZ~?yӧJAF779 elevatorAngleAction: 0.083892< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743041309.403292F (some fields omitted in printout)AQ@Aū@Ae\~? AHAzc"&"AAqNA"AZAbAjArAzAAAU,p),.@Al=krAuur@A({XAAPC@A`7A/8?A <*A@9?2A:ֽ:A}BA@9?JA:ֽRA}٘i)I9ur@YG J<JJJJF&K YqZ~?yҧ`KAF79)B[[L@[rZ~?[֧[[[[BZYY i) : |"))|"9}@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041309.423165 s, next control iter: 1743041309.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14808", header.stamp.nsec: 0"0 temperature: 13.386231"* salinity: 33.391731", density: 1025.000000"* values[0]: 0.699690"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041309.823165 s.1K~,%t,AJ"J*J2J:JBJnJvJAGz@Ao@AsL\~? AAR"&"AAqNA"AZAbAjArAzAAAK}p<-@AќjrA s@AAEA4D@A hA@W?A<*AF9?2Aֽ:A%BAF9?JAֽRA%٘i)I9 s@YG J-<JJJJF&K YUZ~?yѧKAFZ7SI7T9=B)BE[[9_N@[>WZ~?[Aק[[[[BZYY i) ~It ; r))rCk@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041309.843165 s, next control iter: 1743041310.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041310.243165 s.1K~,i,AAףp=J@A3333=@A2\~? A A"&"AAqNA"AZAbAjArAzAAAn,@A ,irAܦs@A9;A`AKF@AL Aq?A܏<*A9?2Aֽ:AoBA9?JAֽRAo٘i)I9s@YKG J]<JJJJF&K Y9Z~?yЧ3LAF779>B)BE[[O@[A^<; 'H))'Hk@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041310.263165 s, next control iter: 1743041310.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041310.663165 s.1K~,q,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083892< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743041310.663267F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14809, header.stamp.nsec: 00 temperature: 13.386000* salinity: 33.391716, density: 1025.000000* values[0]: 0.700783F (some fields omitted in printout)A@AcԵr@A^\~? A A"&"AA^yqNA"AZAbAjArAzAAAvUbx\,@A^hrA@t@An6<AAG@A "A?AU<*A-9?2A&׽:AKBA-9?JA&׽RAKY9@G@yX7<ٓH h??`??w2?40?߆?@a?)9@ I٘i)I9@t@YG J"<JlJJJF&K@x> YZ~?yXЧLAG@F77j79?B)BE[[!Q@[ !Z~?[٧[[[[BZYY i) QK`Z; q))q!@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041310.683165 s, next control iter: 1743041311.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041311.083165 s.D1K~,S,AA)\µ@A@A[~? AC A"&"AARqNA"AZAbAjArAzAAA>+@Ahd8 hrAt@A^<AR AH@AB5AG?A6<*A9?2A׽:ABA9?JA׽RA٘i)I9t@YG J<JJJJF&K YQZ~?y$ЧMAFj79)BE[[R@[Z~?[/ڧ[[[[BZYY i) ߤ!S}; q))qց@J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041311.103165 s, next control iter: 1743041311.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041311.503165 s.1K~,L4,AJ"J*J2J:JBJnJvJAR@Atx@A[~? A+ A"&"AA+qNA"AZAbAjArAzAAABP$+@A =]grA|u@A<A3AGA.EA`w?Ad<*A)9?2Aֽ:ABA)9?JAֽRA٘i)I9|u@YiG Jþ<JJJJF&K YY~?yϧMAFZ79AB)BE[[S@[rY~?[ۧ[[[[BZYY i) GTu; w ))w @F*YFFF]r:Waiting for Gazebo time sync: latest Gz time: 1743041311.523165 s, next control iter: 1743041311.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14810, header.stamp.nsec: 00 temperature: 13.385778* salinity: 33.391739, density: 1025.000000* values[0]: 0.701907F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041311.923165 s.81K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083892< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200682 time: 1743041311.923344F (some fields omitted in printout)A{G!@AB=@A[~? A<A #&"AA{qNA"AZAbAjArAzAAAZ6 *@AfrAM#v@A AAFARA@³?AA<*A9?2Aeֽ:AHKBA9?JAeֽRAHK٘i)I9#v@YG J$<B=JJJJF&K YY~?yϧMAF7777I9)BE[[U;U@[Y~?[ݧ[[[[BZYY i) L<*A9?2Aֽ:AEBA9?JAֽRAEY@@ Dy$bٓHdz?`Br?{` n|e=?@='`@?)@@ I٘i)I9w@YG J6<J JJJ F&Kw> YY~?y8ЧNA DF779AB)BE[[W@[Y~?[~[[[[BZYY i)  elevatorAngleAction: 0.092873< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743041313.183287F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@Ah@Ac~[~? AfA3#&"AAʎpNA"AZAbAjArAzAAAX(@A erAF6x@A-A A~BAlADؠ?A<*Ah9?2ACֽ:A}BAh9?JACֽRA}٘i)I96x@YG J<JJJJ F&K YttY~?yЧ[OAF7)79BB)BE[[JHY@[Y~?[}[[[[ZZZZ¸>BZYY i¸><) ?#&"AA@pNA"AZAbAjArAzAAAFƅu'@A+nerAy@Ah8;A<A@AoA g?A<*A9?2Aֽ:A:BA9?JAֽRA:٘i)I9y@YG Jj<JJJJF&K Y5A`mA`CA_9<*A69?2A)ֽ:ADBA69?JA)ֽRAD٘i)I9z@YwG J <JJJJF&K Y Y~?yҧPAF8787 9CB)oBxE[[!D]@[7Y~?[`[[[[ZZZZBZYY i) Ӯ,AJ"J*J2J:JBJnJvJA@A8@A[~? ABA=#&"AAfoNA"AZAbAjArAzAAAL:&@AMerAsQ{@A {K<AEwAu=A QjA.ěAx}<*Aؠ9?2Aֽ:A(bBAؠ9?JAֽRA(bYėF@с=yAw/K<ٓH+l@?^=? Eƿy@?T? 9o? r?)ėF@ I٘i)I9Q{@YG J)<Jā=JJJF&Kx> YGY~?yԧQA=Fb779)iBuE[[^@[Y~?[[[[[ZZZZBZYY i) 厣5vJA= ףp@Ac@AZ~? AA#&"AATToNA"AZAbAjArAzAAAor#@A grA}@AŀEAi ;AM8A HA-A`Z><*A9?2Aՙֽ:Ado<BA9?JAՙֽRAdo<٘i)I9}@Y[G JJJJF&K:w> YyX~?yYݧERA7FZ7SI79)UBiE[[2&e@[X~?[?[[[[ZZZZBZYY iQq) ZJ*Ԏ"@AJL6xhrA4}@An;A =A5A`'AMA+<:*Ah9?2A*ֽ:AY<BAh9?JA*ֽRAY<٘i)I9}@YG J1;JJJJF&K Y^X~?yߧ(RAF77{79)TBfE[[usf@[X~?[[[[[BZYY i$) H5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069824< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743041318.223295F (some fields omitted in printout)AzG@AL:@AUHZ~? A A"&"AAnNA"AZAbAjArAzAAAqEX!@A`7jrA}@AX\<A\=Ac*3A`A8¿Ad *A,9?2AGս:A&=BA,9?JAGսRA&=٘i)I9}@YsG JλJJJJF&K YN(X~?yQAFj7*9)VB`E[[i@[bX~?[ [[[[BZYY i) F$ YW~?ywwQA0F)7ŧ79)[B[[k@[6X~?[ [[[[BZYY i ]i) h5vJAQ@A-|}@A^Y~? AA("&"AAnNA"AZAbAjArAzAAAl\@AF$YnrAK|@AXA반=A-AtA ʿA*A9?2Aֽ:Aw =BA9?JAֽRAw =٘i)I9K|@YG JJJJJ!F&K YW~?yPAF)7ŧ7T9)aBXE[[n@[L X~?[%[[[[BZYY i) ;ID?i?'< y))y㿩p1@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041319.923165 s, next control iter: 1743041320.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041320.323165 s.w2K~,),AAGzT@ArG@AwY~? AA3!&"AABmNA"AZAbAjArAzAAAnR@A NprA{@AFf"A(C=A,AeA;˿A j*AM9?2Aֽ:AG =BAM9?JAֽRAG =٘i)I9{@Y>G J蜼JJJJ#F&K YSW~?y[cPAF7779CB)eBUE[[`o@[W~?[q[[[[BZYY i) Zڨ;I@D?i? < W))W࿩EҐ@y6j֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041320.343165 s, next control iter: 1743041320.723180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14819*, header.stamp.nsec: 0*0 temperature: 13.384759** salinity: 33.391644*, density: 1025.000000** values[0]: 0.707538*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041320.743165 s.W2K~,q/,AJ"J*J2J:J!5?BJ!5?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057091< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743041320.743309F (some fields omitted in printout)Aףp=@A1}@AY~? AGA!&"AAmNA"AZAbAjArAzAAAcɎ@A"_qrA8{@AiAV=A2M+A*AAhͿA)X*A9?2Aaֽ:Al =BA9?JAaֽRAl =٘i)I98{@YG JJJJJ$F&K Y"W~?yPAF779)jBRE[[bp@[{W~?[[[[[BZYY i釽) bȉ;IlE?i.?< x޿))x޿q@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041320.763165 s, next control iter: 1743041321.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041321.163165 s.w}2K~,qJ,AA@A@A"Y~? AA!&"AA:mNA"AZAbAjArAzAAA8:xd@A<)ksrAz@AD<AR@=A *AcAsϿA1ɷ*AS9?2Aֽ:AL =BAS9?JAֽRAL =YZ@*y?=<ٓH >9 ?4ݿ@gPL7]3??)Z@ I٘i)I9z@YG JoJL<JJJ%F&Kw> Y(qW~?yOA*Fb7b79)nB[[q@[ZW~?[a#[[[[BZYY i) vW;IC2E?iG?Ǚ< ۿ))ۿ@9תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041321.183165 s, next control iter: 1743041321.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041321.583165 s.2K~,Se,AJ"J*J2J:JBJnJvJA)\@AV}@AY~? AAkh!&"AAmNA"AZAbAjArAzAAA"J<@A9=n urAiz@AtT<Aܙ=A4(A A`пAWC*Aê9?2Aֽ:AG =BAê9?JAֽRAG =٘i)I9z@Y,G J+JJJJ'F&K Y0XW~?y5OAF7779)sBOE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #95q/_^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) o;)ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041321.623165 s, next control iter: 1743041321.983179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14820, header.stamp.nsec: 00 temperature: 13.385040* salinity: 33.391655, density: 1025.000000* values[0]: 0.706477F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041322.003165 s.y 2K~,P4,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000@ elevatorAngleAction: -0.066364< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743041322.003278F (some fields omitted in printout)AR+@A¡x@A~hY~? A"A0!&"AA6dmNA"AZAbAjArAzAAAY.@A $vrAmy@A7<A3 =A?t'A+AѿA*AR9?2ACCֽ:A=BAR9?JACCֽRA=٘i)I9my@YG JݵJJJJ(F&K Y7?W~?yNAFb77J9)wBLE[[`t@[XW~?[,[[[[BZYY i) :IME?i?-< {ֿ)) {ֿe@A^xrAOx@AcN;A[)=Av&A2AmҿAʬ*A}:?2A>½:Aq=BA}:?JA>½RAq=٘i)I9x@YuG JJJJJ)F&K Y>&W~?ydNAF9BB)|BIE[[eu@[~W~?[1[[[[BZYY i) A :IjE?i@< Կ))~Կ.@y]ڇΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041322.443165 s, next control iter: 1743041322.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14821, header.stamp.nsec: 00 temperature: 13.385319* salinity: 33.391663, density: 1025.000000* values[0]: 0.705389F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041322.843165 s.ݬ2K~,,AAp= @A<*@A8Y~? A)A &"AAZmNA"AZAbAjArAzAAAFy@A%QozrA&Kx@ApݻA=A9%A uA@PRӿA*A:?2AXý:AK<BA:?JAXýRAK<٘i)I9Kx@YG J?JJJJ+F&K YE W~?y. MAFŧ7b79)BFE[[v@[W~?[x6[[[[BZYY i)  ƹI[E?it@<  ҿ)) ҿ׌@WȪY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041322.863165 s, next control iter: 1743041323.243181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743041323.263165 s.2K~,,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066364< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743041323.263298F (some fields omitted in printout)A@Ax¿@A Y~? Ac,Av &"AA;lNA"AZAbAjArAzAAAT9ܲ@Ag|rAjw@AeSAT=A9$A@~SA ӿA2*A:?2Aƽ:A<BA:?JAƽRA YxV~?yMA$Fb779)BGE[[x@[pW~?[;[[[[BZYY i) oIkE?i @ < Ͽ))Ͽ*@LŪYtYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041323.283165 s, next control iter: 1743041323.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 148222, header.stamp.nsec: 020 temperature: 13.3855612* salinity: 33.3916242, density: 1025.0000002* values[0]: 0.7043812F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041323.683165 s.l2K~,c,AA(\@Af@A_ Y~? A/A?4 &"AAYlNA"AZAbAjArAzAAA`o6@A~rA @w@AFA=As#A*AإԿAٚ*A?:?2AȽ:A i<BA?:?JAȽRA i<٘i)I9@w@Y|G JoC=JJJJ-F&K YV~?y:MAF{7j7t9)BDE[[Ky@[_W~?[@[[[[BZYY i) BIFE?i@< Ϳ))ͿǕ@ªYFFF]r:Waiting for Gazebo time sync: latest Gz time: 1743041323.683165 s, next control iter: 1743041324.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743041324.103165 s.2K~,,AJ"J*J2J:JBJnJvJAQ8@AE+@AX~? A|3AN&"AAlNA"AZAbAjArAzAAADƩy@Ar3rAgv@AA4=Ay>"AAbտA]*A:?2AB:˽:A4<BA:?JAB:˽RA4<٘i)I9v@Y-G JWJJJJ/F&K YV~?yhLAFSI7SI7?9)BAE[[z@[MW~?[E[[[[BZYY i) QIE?i@< ʿ))ʿc@YFFF]n:Waiting for Gazebo time sync: latest Gz time: 1743041324.123165 s, next control iter: 1743041324.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041324.523165 s.2K~,{!,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066364< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743041324.523298F (some fields omitted in printout)AHzn@As a@AX~? A:7Aӧ&"AArlNA"AZAbAjArAzAAA|g`@Ay~i|rAE[[l{@[]<,AJ"J*J2J:JBJnJvJAq= ף@ALʖ@AX~? A;A]&"AA{ilNA"AZAbAjArAzAAA̐J@A?مrAku@AG<A=AAA`ֿA*A:?2A Ͻ:Ap<BA:?JA ϽRAp<٘i)I9u@YG JJJJJ1F&K  9YHV~? 9y#LAFŧ779)B[[9|@[4,W~?[\P[[[[BZYY i) I&F?i'@(<  ſ)) ſ@ۼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041324.963165 s, next control iter: 1743041325.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041325.363165 s.2K~,>W,AA@Aɍ@A7X~? A?A&"AAFlNA"AZAbAjArAzAAApHo@AdMLrAj9u@AfU<A=AcA [A@3׿AD×*A:?2Afѽ:AV<BA:?JAfѽRAV YV~?yY)KAUF77{79)B;E[["~@[W~?[U[[[[BZYY i) &ŻIIF?ih @R< qÿ))qÿe3@ѺYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743041325.383165 s, next control iter: 1743041325.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14824&, header.stamp.nsec: 0&0 temperature: 13.386024&* salinity: 33.391613&, density: 1025.000000&* values[0]: 0.702524&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041325.783165 s.X2K~,r,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743041325.783292F (some fields omitted in printout)A(\@A"LQ@AȖX~? ABCAz&"AA$lNA"AZAbAjArAzAAA$Wg"O @AsԊrAڻt@AKj;A<=AAAਉؿAA*A:?2Aӽ:A%)<BA:?JAӽRA%)<٘i)I9t@YG JwJJJJ4F&K YiV~?y.cKAFj9@B)B8E[[W@[ W~?[Y[[[[[BZYY i) LIXlF?i$@8< c))c͘@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041325.803165 s, next control iter: 1743041326.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041326.203165 s.2K~,,AAQE@ATb8@AX~? AGADo&"AAlNA"AZAbAjArAzAAA95 @AxNrrADt@A1A=AAA YV~?yMEIAF 9)B[[ @[sV~?[r[[[[BZYY i) U0IG?ik4@< )).@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041327.483165 s, next control iter: 1743041327.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14826, header.stamp.nsec: 00 temperature: 13.386441* salinity: 33.391613, density: 1025.000000* values[0]: 0.700881F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041327.883165 s.y2K~,D,AA(@A@A*X~? AZA &"AAkNA"AZAbAjArAzAAA1p@AN0/rAr@AD;9Am=AdAA`wܿA{*AU:?2Ahֽ:A=BAU:?JAhֽRA=٘i)I9r@YG JJJJJ;F&K YU~?ypKIAF77_ 9)B0E[[Ť@[xV~?[w[[[[BZYY i) ?I*G?i7@S< k$))k$ƛ@xêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041327.903165 s, next control iter: 1743041328.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041328.303165 s.U3K~,sg,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743041328.303304F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AmD@ALX~? A_A!&"AAt`kNA"AZAbAjArAzAAA"@AIśrA4r@A[9<AJ=AAwA 5ݿA:*AM:?2A`ֽ:AK =BAM:?JA`ֽRAK =٘i)I9r@YLG JɒJJJJ<F&K YU~?yQ:IAF*9)B.E[[;@[V~?[}[[[[BZYY i) HOIqRG?i;@7< Ȳ))Ȳ]@YǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041328.323165 s, next control iter: 1743041328.703176 s, wait time: 0.380011 sU~?)Q*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14827*, header.stamp.nsec: 0.0 temperature: 13.386659.* salinity: 33.391571., density: 1025.000000.* values[0]: 0.700071.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041328.723165 s. 3K~,H.,AAz@A3z@AX~? AdA4J&"AAgAkNA"AZAbAjArAzAAAl?A6czrAq@AN_<A=AA*AvݿA*AE:?2A}ֽ:A L=BAE:?JA}ֽRA L=٘i)I9q@YG JJJJJ>F&K YRU~?yWHAFb779)B[[у@[ӧV~?[[[[[BZYY i) ^I{G?i?@< p))p@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041328.743165 s, next control iter: 1743041329.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041329.143165 s.W/3K~, *I,AJ"J*J2J:JBJnJvJA ףp@AUd@AW~? AOiA&"AA"kNA"AZAbAjArAzAAAl?A OrA+p@AT-<A =AHA A ϭ޿A[*A=:?2Aֽ:A=BA=:?JAֽRA=٘i)I9p@YG J6JJJJ?F&K YU~?y]HAF79>B)B*E[[]f@[,V~?[[[[[BZYY i) (;nIG?iwD@z<  )) X@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041329.163165 s, next control iter: 1743041329.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041329.563165 s.3K~,[ d,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200572 time: 1743041329.563340F (some fields omitted in printout)A3333@A#)@AfW~? AnA~&"AAkNA"AZAbAjArAzAAAOY7?A1vPrAxp@Al;AΗ=AQ%AsAjg߿A*A6:?2A=׽:A =BA6:?JA=׽RA =Yr@"yΗ=;ٓH {҈?9`\xD:kcM`? }?)r@ I٘i)I9xp@Y[G JB=Jo<JJJ@F&K,z> YU~?ydHA"F7{79=B)B'E[[@[V~?[ҏ[[[[BZYY i) ^}IG?iFG@< 7ī))7ī@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041329.583165 s, next control iter: 1743041329.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14828, header.stamp.nsec: 00 temperature: 13.386889* salinity: 33.391567, density: 1025.000000* values[0]: 0.699181F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041329.983165 s.3K~,~,AJ"J*J2J:JBJnJvJA\(@A͍@A$W~? AtA&"AA]jNA"AZAbAjArAzAAAB-7F?A@ rAo@AArי=ASA3A Ajȟ*A;0:?2A׽:A =BA;0:?JA׽RA =٘i)I9o@Y G J՟C=JJJJBF&K YҝU~?y[kGAF77U9)B[[l@[V~?[[[[[BZYY i) @IUG?ixJ@= m))mg@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041330.003165 s, next control iter: 1743041330.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041330.403165 s.&&3K~,͙,AAQ^@ALl>Q@AAW~? AyA٩&"AApjNA"AZAbAjArAzAAA:d\c?AUrAko@ACXA=AtAA bhA*A*:?2A׽:A3a =BA*:?JA׽RA3a =٘i)I9ko@YG JvJJJJCF&K YU~?yrMGAF{7{7 9)¯B%E[[:'@[wV~?[%[[[[BZYY i9) ҍI(H?i N@= ))5I@Y֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041330.423165 s, next control iter: 1743041330.803181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14829", header.stamp.nsec: 0"0 temperature: 13.387108"* salinity: 33.391560", density: 1025.000000"* values[0]: 0.698241"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041330.823165 s.,3K~,\,AJ"J*J2J:J2?BJ2?nJn;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086047< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743041330.823290F (some fields omitted in printout)AGz@An@AW~? AcA;&"AAjNA"AZAbAjArAzAAA[_?A!"rAn@AаAA=ٝ=A' A}AAGX*AW$:?2A׽:Ahw =BAW$:?JA׽RAhw =٘i)I9n@YdG JJJJJDF&K YyU~?yxFAF)7ŧ79)ƯB[[@[kV~?[X[[[[BZYY i) 7cIUH?iR@h= oˤ))oˤܟ@ ٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041330.843165 s, next control iter: 1743041331.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041331.243165 s.33K~,u,AAףp=@AV 1@AW~? A4As&"AAIjNA"AZAbAjArAzAAA̴D3?A7#rA[Un@A4As=AW A`.AA*A:?2A5׽:AFu=BA:?JA5׽RAFu=٘i)I9Un@YG JJJJJFF&K YrgU~?yFAFj7Z79)ʯB"E[[M@[@aV~?[[[[[BZYY i) fIH?i[V@$0 = [))[o@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041331.263165 s, next control iter: 1743041331.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041331.663165 s.J "J *J 2J :J 2?BJ 2?nJ -;5vJ :3K~,q,AtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14830, header.stamp.nsec: 00 temperature: 13.387350* salinity: 33.391552, density: 1025.000000* values[0]: 0.697289F (some fields omitted in printout)A@AŌ@A}W~? A!AX&"AAwjNA"AZAbAjArAzAAAtd\^?ArAm@Ar;A=A A ߿A`dAk*A~:?2A5ֽ:A=BA~:?JA5ֽRA=Y~y@ y]=;ٓH{ ~?D$ Yk ,`K Mw??)~y@ I٘i)I9m@YG JB=J;L<JJJGF&Kx> YWU~?y憨FA Fb7b79)ϯB[[#@[VV~?[鮨[[[[BZYY i) aIH?iX@ = .)).@y%dߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041331.683165 s, next control iter: 1743041332.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743041332.083165 s.DA3K~,R,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086047< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743041332.083306F (some fields omitted in printout)A)\5@AND(@AlW~? A*A?&"AAq\jNA"AZAbAjArAzAAAdny?A{crA*m@AYM<A+=A\ A@x޿AA츼*A:?2Ahֽ:A =BA:?JAhֽRA =٘i)I9*m@YXG JbC=JJJJHF&K YGU~?y/EAF77{7J9-B)ïBE[[u@[LV~?[H[[[[BZYY i) eͫIH?i[@ = ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041332.123165 s, next control iter: 1743041332.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041332.503165 s.G3K~,H4 ,AJ"J*J2J:JBJnJvJARk@Ay^@A[W~? ANAvm&"AAjBjNA"AZAbAjArAzAAA>ȿAD?"rAl@AR<Am=AAe7޿ApA(*Aj:?2Aֽ:A=BAj:?JAֽRA=٘i)I9l@YG JJJJJJF&K Y7U~?yy:EAFSI7SI7!9,B)ȯB E[[@[CV~?[[[[[BZYY i) :II?i1_@= _))_*@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041332.543165 s, next control iter: 1743041332.903179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14831, header.stamp.nsec: 00 temperature: 13.387599* salinity: 33.391525, density: 1025.000000* values[0]: 0.696234F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041332.923165 s.:N3K~,;,AA{G@A;@AJW~? AA&"AA)jNA"AZAbAjArAzAAAؿAUarA#k@A5;Aﰩ=AA`qwݿA 'QA*A9?2A ׽:A@J=BA9?JA ׽RA@J=٘i)I9k@YG JJJJJKF&K Y-(U~?yÜDAF)7)7"9)̯BE[[|@[9V~?[¨[[[[BZYY i) Iib@6= M))Mw@3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041332.943165 s, next control iter: 1743041333.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041333.343165 s.J Y U~?y̫CAFb77u&9+B)֯BE[[佊@[(V~?[Ϩ[[[[BZYY i) VɼIiDi@J= ᅯ))ᅯߣ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041333.803165 s, next control iter: 1743041334.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743041334.183165 s.b3K~,k,AJ"J*J2J:JBJnJvJA(\B@Ad5@AW~? A谩A}&"AAiNA"AZAbAjArAzAAAz1 XAf.rA j@AZA俰=AıA"ۿA`.Aļ*AM9?2A׽:A@=BAM9?JA׽RA@=٘i)I9 j@YpG J>¼JJJJOF&K YT~?yvCAF7777@(9)ۯBE[[O@[ V~?[ը[[[[BZYY i) мIik@g= x))xq@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041334.203165 s, next control iter: 1743041334.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041334.603165 s.84i3K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086047< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743041334.603321F (some fields omitted in printout)AQx@A]Ek@A W~? AA(&"AAiNA"AZAbAjArAzAAA584eQA$0rAai@A A=A/kAXڿAsA˼*A9?2A4׽:A=BA9?JA4׽RA=I٘i)I9ai@Y G JǼJJJJPF&K YPT~?yLCAF7 *9)B[[@[V~?[ ܨ[[[[BZYY i) ׼Iin@= s4))s4@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041334.643165 s, next control iter: 1743041335.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14833 , header.stamp.nsec: 0 0 temperature: 13.388152 * salinity: 33.391514 , density: 1025.000000 * values[0]: 0.694015 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041335.023165 s.Zp3K~,|,AJ"J*J2J:J1?BJ1?nJL:5vJAHz@Ae@AV~? AHAz&"AAiNA"AZAbAjArAzAAAbO_A yrAh@A:A=A+AٿAAd Լ*A%9?2Aֽ:A-q=BA%9?JAֽRA-q=٘i)I9h@Y G JdϼJJJJRF&K YT~?y èBAF{7+9*B)BE[[q@[V~?[[[[[BZYY i) ,"߼Iiir@$= ;));󍿩 @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041335.063165 s, next control iter: 1743041335.423185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743041335.443165 s.7v3K~,>],AAq= @A)@@AV~? AũA[&"AAiNA"AZAbAjArAzAAAHZAP̒rAg@AQ"<Ao=AAؿA Akۼ*A9?2Asֽ:Ai=BA9?JAsֽRAi=٘i)I9g@Y2 G J׼JJJJSF&K YT~?yʨBAF7777-9)B[[@[ V~?[@[[[[ZZ¸BZYY i¸M=) .ӼIi4v@I= k))k"@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041335.463165 s, next control iter: 1743041335.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14834, header.stamp.nsec: 00 temperature: 13.388451* salinity: 33.391502, density: 1025.000000* values[0]: 0.692789F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041335.863165 s.+}3K~,>,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082768< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743041335.863296F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A!: @ACA8׿A`4Ae߼*A9?2AAfֽ:A_ =BA9?JAAfֽRA_ =YE@Gy_=y_<ٓH@JؿN?@槿{wuؿԳ 䶿aҋ?m?)E@ I٘i)I9Dg@Y G JݼJ.,<JJJTF&KOx> YT~?yҨAAF77j/9)B)BE[[;@[0V~?[[[[[ZZBZYY i) ǼIi5x@= r))r6@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041335.883165 s, next control iter: 1743041336.263184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743041336.283165 s.2R3K~,,AA(\O@A~TB@A1V~? AөA&"AAuiNA"AZAbAjArAzAAA:maAxܒrAuf@A4%<A=AA׿AnAٔ*Au9?2AAֽ:A=BAu9?JAAֽRA=٘i)I9uf@YC G JJJJJVF&K YT~?yۨ!AAF7519)B[[s!@[ U~?[[[[[ZZBZYY i) Iiz@` = 1))1nC@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041336.303165 s, next control iter: 1743041336.683175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 148352, header.stamp.nsec: 020 temperature: 13.3887602* salinity: 33.3915062, density: 1025.0000002* values[0]: 0.6914502F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041336.703165 s.Ӻ3K~,-,AJ"J*J2J:JBJnJvJAQ@Ax@AV~? AکA_&"AAaiNA"AZAbAjArAzAAA]QHA 5rAXe@A:AL=AlA H@ֿA@LA*A9?2A]ֽ:Amq<BA9?JA]ֽRAmq<٘i)I9e@Y G JB=JJJJWF&K Y_T~?y0@AF739)B[[@[NU~?[?[[[[ZZBZYY i) ^IiX}@2$"= C))C󄿩 ӧ@y=|ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041336.723165 s, next control iter: 1743041337.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041337.123165 s.63K~,XG,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082768< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743041337.123313F (some fields omitted in printout)AG@A2oխ@AV~? A6A&"AANiNA"AZAbAjArAzAAAxAp YЗT~?y?AFj7Z7`89)B[[]@[jU~?[W[[[[ZZBZYY i=) yIiՂ@|w'= |))|@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041337.983165 s, next control iter: 1743041338.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041338.383165 s.إ3K~,4,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069293< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743041338.383326F (some fields omitted in printout)A(\@AHO@A V~? AA,&"AA iNA"AZAbAjArAzAAA}=D<AtTrAb@A9A,$<AaqAxҿAAy*A39?2Aֽ:ABA39?JAֽRA٘i)I9b@Y G JXC=JJJJ\F&K YT~?y[f?AF77+:9(B)BE[[@[1U~?[[[[[ZZBZYY iӟ=)  #Ii߃@&(= =x))=x@zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041338.403165 s, next control iter: 1743041338.783178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14837&, header.stamp.nsec: 0&0 temperature: 13.389399&* salinity: 33.391460&, density: 1025.000000&* values[0]: 0.688749&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041338.803165 s.xA3K~,g,AA@A߄@AّV~? AA&"AA1 iNA"AZAbAjArAzAAA8fiA#rAkb@A,^;AAAѿA A,8*A@9?2Aֽ:ADnBA@9?JAֽRADn٘i)I9b@Y G JeJJJJ^F&K YT~?y A?AF7;9)B[[{@[\U~?[[[[[ZZBZYY i) ؗoIi@^*= s))s㝪@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041338.823165 s, next control iter: 1743041339.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041339.223165 s.g3K~,H,AJ"J*J2J:JBJnJvJAz@A~@A%V~? AA &"AAhNA"AZAbAjArAzAAA8AO$bsA@b@AI<AҞA<7A ѿA`.A؏*Ac9?2A ׽:A⠼BAc9?JA ׽RA⠼٘i)I9@b@Y G JJJJJ_F&K YT~?yF?AF7=9)BE[[ @[U~?[%[[[[ZZBZYY i) ZIi@,,= o))o,@yנ=u)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041339.243165 s, next control iter: 1743041339.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041339.643165 s.zй3K~,*,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.078041< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743041339.643284F (some fields omitted in printout)A ףp@AwDf@A~V~? A Av&"AAhNA"AZAbAjArAzAAA)ootA y AFb77?9)B[[@[U~?[_,[[[[BZYY i) 9FIi@8.= j))j@@/*YFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14838F, header.stamp.nsec: 0F0 temperature: 13.389546* salinity: 33.391457, density: 1025.000000* values[0]: 0.688156F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743041339.663165 s, next control iter: 1743041340.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041340.063165 s.3K~, ,AJ"J*J2J:J*0?BJ*0?nJ85vJA33333@A (&@A;vV~? A0A&"AAhNA"AZAbAjArAzAAAq{.HAWە sA_b@An;A32AAοA`&6A%;*A#9?2A ֽ:ABA#9?JA ֽRAY|ȉ@7y22;ٓHǿ p? b?h@ǿp?D?-x??)|ȉ@ I٘i)I9b@Y G JJ+JJJbF&Kw> YDrT~?ye&4?AF{7{7UA9)[[&@[/U~?[,3[[[[BZYY iVi=) g5Ii͈@"/= M>f))M>fH@,o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041340.083165 s, next control iter: 1743041340.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041340.483165 s.~_3K~,,AA\h@A~[@AnV~? AAM&"AABhNA"AZAbAjArAzAAARdAEmاsA=b@A6A"GZAg޿Aழ̿A[Ap;*A9?2Afֽ:AZNBA9?JAfֽRAZN٘i)I9=b@Y G J;JJJJcF&K YlT~?y/p?AF777 C9'B)BE[[-@[U~?[9[[[[BZYY i߇=) $Ii@A=0= a))a(֬@4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041340.503165 s, next control iter: 1743041340.883184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14839, header.stamp.nsec: 00 temperature: 13.389560* salinity: 33.391438, density: 1025.000000* values[0]: 0.688145F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041340.903165 s.3K~,9,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066345< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743041340.903310F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A@AMfV~? A$A &"AA&hNA"AZAbAjArAzAAA.Ay]sA6}b@ADA$yAۿA@ʿA`A?<*A9?2A*ֽ:A BA9?JA*ֽRA ٘i)I9}b@Y G JW<JJJJeF&K YgT~?y7?AFS77D9)BE[[A@[U~?[@[[[[BZYY i) ]Ii@ 1= `]))`]c@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041340.923165 s, next control iter: 1743041341.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041341.323165 s.v3K~,%T,AAGz@A!o@A_V~? AU,A &"AA̻hNA"AZAbAjArAzAAA˷qy ArHn^sAb@A+bA,^A_ٿAɿAAop<*A<9?2A3ֽ:AaBA<9?JA3ֽRAa٘i)I9b@Y G JwW<JJJJfF&K YqbT~?yd@?AF{7j7F9)B[[Δ@[kU~?[G[[[[BZYY i) Ii@553= X))X@yF=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041341.343165 s, next control iter: 1743041341.723174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14840*, header.stamp.nsec: 0*0 temperature: 13.389465** salinity: 33.391426*, density: 1025.000000** values[0]: 0.688673*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041341.743165 s.W3K~,mo,AJ"J*J2J:JL0?BJL0?nJ85vJAףp= @A4@AbXV~? A#4A &"AA8hNA"AZAbAjArAzAAA~ͷ A(7sA-Dc@A A␽AֿA6ǿAA><*A,9?2Ao~ֽ:ABA,9?JAo~ֽRA٘i)I9Dc@YQ G J<JJJJgF&K Y+]T~?yI#@AF777H9) B[[n[@[BU~?[GN[[[[BZYY i) ;Iiq@ 5= T))Ti}@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041341.763165 s, next control iter: 1743041342.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041342.163165 s.w}3K~,q,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066345< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743041342.163271F (some fields omitted in printout)A@@A2@A3RV~? A;A &"AAlhNA"AZAbAjArAzAAAz At{E"sAc@A :A"AԿA@UſA` A<*Ax9?2A~ֽ:AeBAx9?JA~ֽRAeY @ Կy:ٓH4ܵ?t? *嵿`в?ڲ?@QU?@?) @ I٘i)I9c@Y G J<JXJJJiF&KNx> YZT~?yQ@A ԿF{7{7KJ9(B) BE[[@[xU~?[U[[[[BZYY i) 0ŻIi@5= *P))*P} @A*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041342.183165 s, next control iter: 1743041342.563176 s, wait time: 0.380011 s*ZT~?)*Q rAdjusting time to match Gazebo time: 1743041342.583165 s.3K~,R,AJ"J*J2J:Jj0?BJj0?nJ85vJA)\u@AUh@ALV~? ACA+V &"AAjhNA"AZAbAjArAzAAA>fS; A!Zx'sAa>d@A݄(<A (ATѿAqÿAA^<*AT9?2A+,׽:A BAT9?JA+,׽RA ٘i)I9>d@Y G J<JJJJjF&K YUXT~?yZ@AFŧ7b7L9)B[[\u@[ U~?[[[[[[BZYY i) Ii@6= K))KW@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041342.603165 s, next control iter: 1743041342.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14841, header.stamp.nsec: 00 temperature: 13.389229* salinity: 33.391418, density: 1025.000000* values[0]: 0.689603F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041343.003165 s.{ 3K~,Y4,AAR@A-x@AeGV~? AKA &"AA3hNA"AZAbAjArAzAAAOV A?M,sAOd@Ab<ABϝAկοA A`%A<*A9?2A3׽:Am BA9?JA3׽RAm ٘i)I9d@Y< G Jԡ<JJJJkF&K YUT~?y^cSAAF{7j7M9)B[[8ȿ[U~?[b[[[[BZYY i) RKIi@7= c`G))c`Gc`G*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743041343.023165 s, next control iter: 1743041343.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041343.423165 s.u3K~,,AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066345< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743041343.423281F (some fields omitted in printout)A{G@Aףp=@ABV~? ASA &"AAƎhNA"AZAbAjArAzAAAkk' A(1sATe@A)%<AzAV̿A\A &Ac|<*AY9?2ABֽ:A3 BAY9?JABֽRA3 ٘i)I9Te@Y G Jf<JJJJmF&K YST~?y$lAAF7{7O9)B[[ƿ[VU~?[Ti[[[[BZYY i) UIi@`*9= B))BB*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041343.443165 s, next control iter: 1743041343.823181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14842, header.stamp.nsec: 00 temperature: 13.572486* salinity: 33.374985, density: 1025.000000* values[0]: 0.568649F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041343.843165 s.3K~,,AAp= @A|c @A>V~? A[Ay &"AA"hNA"AZAbAjArAzAAAjL A"36sARe@AZM:A+AwɿA̞A`9AK<*Ab9?2AKֽ:A^l BAb9?JAKֽRA^l ٘i)I9e@Y G J<JJJJnF&K YQT~?ytBAF77vQ9)BE[[ÿ[U~?[ p[[[[BZYY i) NIi@:= >))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041343.863165 s, next control iter: 1743041344.243182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743041344.263165 s.4K~,',AJ"J*J2J:JBJnJvJAL@A=z?@A;V~? AcAz&"AAGhNA"AZAbAjArAzAAAQ A':sASf@AX AAǿA᷿A dJA<*A9?2A9Wֽ:A{ BA9?JA9WֽRA{ YTL@ǿyyv ٓH@Oc?? ~?଄?ų?? N?)TL@ I٘i)I9f@YK G JP<JJJJoF&Kx> YQT~?y}BAǿF777@S9)B[[[U~?[v[[[[BZYY i) i޺IiG@e<;= [B:))[B:[B:y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041344.283165 s, next control iter: 1743041344.663178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14843., header.stamp.nsec: 0.0 temperature: 13.572209.* salinity: 33.374992., density: 1025.000000.* values[0]: 0.569334.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041344.683165 s.l 4K~,V+,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066345< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743041344.683273F (some fields omitted in printout)A(\@A,ju@A 8V~? AkA M&"AA5}hNA"AZAbAjArAzAAAGsM4U, A?sA g@A]5_A AuĿA AXAw<*A9?2AGֽ:A T BA9?JAGֽRA T ٘i)I9 g@Y G J<JJJJqF&K YQT~?yBAF77 U9)B[[Ey[U~?[~}[[[[BZYY i) bJIiђ@;= 5))55*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041344.683165 s, next control iter: 1743041345.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743041345.103165 s.4K~,F,AJ"J*J2J:JBJnJvJAQ@AG@A5V~? AsA7&"AAxhNA"AZAbAjArAzAAAl'i ADsAg@A<AWAA OAeAV<*AM9?2Azֽ:ALhBAM9?JAzֽRALh٘i)I9g@Y G JH<JJJJrF&K YpRT~?yP]CA F77V9)B[[cJ[RU~?[1[[[[BZYY i) [9Ii@<= 1))11*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041345.123165 s, next control iter: 1743041345.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041345.523165 s.4K~,{a,AAHz@Ag @A3V~? A{A&"AAsuhNA"AZAbAjArAzAAA*} AoʰIsARh@AYA_\A7A[AnA[<*AL9?2Aqֽ:A_9BAL9?JAqֽRA_9٘i)I9Rh@Ye G J³<JJJJsF&K YRT~?yCA Fj7{7X9,B)E[[[zU~?[܊[[[[BZYY i) T:Iiq@>= *-))*-*-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041345.543165 s, next control iter: 1743041345.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14844, header.stamp.nsec: 00 temperature: 13.571953* salinity: 33.374985, density: 1025.000000* values[0]: 0.570057F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041345.943165 s.\d4K~,S]|,AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066345< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743041345.943321F (some fields omitted in printout)Aq= #@A)@A2V~? A烪Au&"AArhNA"AZAbAjArAzAAAj*7 Aq>NsAh@Aer;A'{A΃As3A@vA<*A9?2A;%׽:A(BA9?JA;%׽RA(٘i)I9h@Y G Jƫ<JJJJuF&K YXST~?y꠩1DA F777kZ9)B[[a[U~?[[[[[BZYY i) <;Ii@^e?= ())((*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041345.983165 s, next control iter: 1743041346.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041346.363165 s.%4K~,}>,AAY@A L@A1V~? AA &"AAphNA"AZAbAjArAzAAA A?|SsAli@AW<A AٹA`A`zA4-<*A 9?2AE׽:ABA 9?JAE׽RAYǎ@ yꐽ!W<ٓH q ??N敿 ²@Y?@r?|???)ǎ@ I٘i)I9li@YG J֣<Jz<JJJvF&K_x> YVT~?yDA F{7{76\9)B[[Yö[U~?[%[[[[BZYY i) NO;Ii@t?= v$))v$v$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041346.383165 s, next control iter: 1743041346.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14845&, header.stamp.nsec: 0&0 temperature: 13.571653&* salinity: 33.374996&, density: 1025.000000&* values[0]: 0.570726&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041346.783165 s.\+4K~,,AJ"J*J2J:J?BJ?nJ35vJA(\@AS@A0V~? AAN:&"AAohNA"AZAbAjArAzAAAd6 A?}jXsA}i@AtP<AA?A vlA|Aq<*A9?2Aj(׽:AgBA9?JAj(׽RAg٘i)I9i@YaG J6<JJJJwF&K YYT~?ygDAF^9)ݯBE[[[U~?[Ǟ[[[[BZYY i) L;Ii@b@= c ))c c *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041346.823165 s, next control iter: 1743041347.183181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743041347.203165 s.34K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066345< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743041347.203314F (some fields omitted in printout)AQ@As"@A0V~? A#A&"AAohNA"AZAbAjArAzAAA'r A MY]sA[tj@ANй;AόAAh7?A@Z|A"<*AJ9?2Amֽ:AzBAJ9?JAmֽRAz٘i)I9tj@YG Jқ<JJJJyF&K YP]T~?y&UEAF777_9)ٯB[[h[U~?[a[[[[BZYY i) k;Ii@@= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041347.223165 s, next control iter: 1743041347.603180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041347.623165 s.W94K~,],AJ"J*J2J:JBJnJvJAG@A[z4@Au1V~? A7A&"AA/phNA"AZAbAjArAzAAAP> AaGbsAj@A⎻AA\0A ?A\yA<*A9?2Aֽ:ABA9?JAֽRA٘i)I9j@YG J<JJJJzF&K Y`T~?yéEAF7a9)կB[[%=[U~?[[[[[BZYY iS=) t;IiT@&A= oj))ojojk*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041347.643165 s, next control iter: 1743041348.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14846 , header.stamp.nsec: 0 0 temperature: 13.571427 * salinity: 33.374985 , density: 1025.000000 * values[0]: 0.571365 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041348.043165 s.@4K~,,AA= ף0@A#@A2V~? AJAa&"AAqhNA"AZAbAjArAzAAANa߂M A|5gsAyk@AEA+2AۥA ?AsA!?<*A9?2ANfֽ:ABA9?JANfֽRA٘i)I9yk@YPG J<JJJJ{F&K YcT~?y̩FAF77{7`c9)ѯB[[[U~?[z[[[[BZYY i) 8;Ii<@B= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041348.063165 s, next control iter: 1743041348.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041348.463165 s.VG4K~,,AJ"J*J2J:JW?BJW?nJs5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075545< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743041348.463295F (some fields omitted in printout)Afffff@Ag\Y@AU4V~? AZAu&"AAshNA"AZAbAjArAzAAAS A(.!lsA(k@A[A$݇A A y?AkA<*A9?2Awֽ:A RBA9?JAwֽRA RYЖ@﬿yڇy\ٓH?`;?Uq)F?@sO??~@>?)Ж@ I٘i)I9k@YG J<J,<JJJ}F&K6x> YjT~?y<թsFA﬿F77+e9-B)ͯBE[[櫿[U~?[[[[[BZYY i)  elevatorAngleAction: 0.075545< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200562 time: 1743041349.723347F (some fields omitted in printout)Az@Ab.@A=e0@Ao@V~? AsԪAO&"AAFhNA"AZAbAjArAzAAAD7dw` A?K\sAUm@AUa<AAcA?Ai1Atه<*AC9?2AKC׽:A+BAC9?JAKC׽RA+I٘i)I9m@YG J <C=JJJJF&K YT~?yGAF77Vl9)BE[[I;[V~?[ҩ[[[[BZYY i) > YT~?y?HA矿F{7j7!n9)B[[[0 V~?[%٩[[[[BZYY i) UN elevatorAngleAction: 0.075545< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743041350.983287F (some fields omitted in printout)A\@AM@AIV~? AZA%"AA_hNA"AZAbAjArAzAAA5j A`msA{n@A+{9AeALA?AzA<*A9?2Aֽ:ABA9?JAֽRA٘i)I9n@YMG J<JJJJF&K YT~?yTHAF777o9/B)BE[[w枿[V~?[yߩ[[[[BZYY i) ] elevatorAngleAction: 0.084416< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743041352.243297F (some fields omitted in printout)Aףp=J@A72=@AO[V~? AAJ%"AAުhNA"AZAbAjArAzAAA!$ Awv՗sAxFp@Ab6ArAuA@?A`A0<*A9?2A~ֽ:AQBA9?JA~ֽRAQ٘i)I9Fp@Y<G J.<JJJJF&K YbT~?yf!IAF77j7Ku9)B[[h[2*V~?[6[[[[BZYY i) Y YT~?yl)#JAޒ!F777w91B)B!E[[?[G2V~?[_[[[[BZYY i)  elevatorAngleAction: 0.084416< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743041353.503291F (some fields omitted in printout)AR@A0{@AqV~? A,A%"AAahNA"AZAbAjArAzAAAUAZpsA"q@AW<AAjAA?AFA6W<*A:9?2AC׽:A1BA:9?JAC׽RA1٘i)I9q@Y2G Jm<JJJJF&K Y/T~?yz9JA$Fj7z92B)B%E[[#쑿[vCV~?[[[[[BZYY i) N<*A 9?2A ֽ:AwBA 9?JA ֽRAw٘i)I9r@YG J<JJJJF&K YaT~?yIKA&Fŧ7b7A~9)B[[;[UV~?[[[[[BZYY i)  elevatorAngleAction: 0.084416< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743041354.763300F (some fields omitted in printout)Ǎ@A;@AgV~? A)A%"AAhNA"AZAbAjArAzAAA<9-A$sA s@AA|A煿A`y?AA+<*A͡9?2ASֽ:A&BA͡9?JASֽRA&YC@څyD|ٓH??k'n?@?@X)? t@?)C@ I٘i)I9s@Y<G Jr<B=JJJJF&Kw> YT~?y%Q/LAڅ(F 94B)B)E[[9p[_V~?[|[[[[BZYY i)   elevatorAngleAction: 0.084416< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743041356.023306F (some fields omitted in printout)AHz.@A!@AV~? A@A%"AA iNA"AZAbAjArAzAAA$_a#9AP_nsAǀu@As AhA7|A\?A`3A<*A9?2A(ֽ:A9BA9?JA(ֽRA9٘i)I9u@YkG Jy<JJJJF&K Y!U~?ygMA,F{7k9)B[[][~V~?['[[[[BZYY i)  7,AJ"J*J2J:JBJnJvJA@Ae@AV~? ANA"%"AA8CiNA"AZAbAjArAzAAAPrAR_?sABv@A1/6<A AbqA?AAOk<*Av9?2Ab%׽:AABAv9?JAb%׽RAAYأ@qy7󱽙6<ٓH?@#?@4-?VP?@=7?`ņ?@?)أ@ I٘i)I9v@Y;G Jm<J7!JJJF&KEx> Y@U~?yvnNAq.F{797B)B0E[[[V~?[M3[[[[BZYY i) t elevatorAngleAction: 0.084416< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743041357.283290F (some fields omitted in printout)A(\@A1"Q@AV~? AUAk%"AA~UiNA"AZAbAjArAzAAA %H`A;sAw@A_<A6AlA?A@%AȾ<*A9?2A&׽:ABA9?JA&׽RA٘i)I9w@YG JW<JJJJF&K Y3QU~?y}NA0F777ˊ98B)|B3E[[|[V~?[8[[[[BZYY i) f[[[[ZZZZ¸>BZYY i¸>ʁ) ))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041357.723165 s, next control iter: 1743041358.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041358.123165 s.:4K~,i,AAG:@AIZ-@AV~? AcAX%"AA$|iNA"AZAbAjArAzAAA/A5 .sA[x@A|ƹAT8AbA`K?AA,<*A9?2Adֽ:AIBA9?JAdֽRAI٘i)I9x@YyG J<C=JJJJF&K YLrU~?yOA2F{7j7a9)qB6E[[At[͸V~?[C[[[[ZZZZBZYY i) ??`裿8@G?a?`rڲ?@]?)r@ I٘i)I9z@Y|G J =J=JJJF&Kw> YU~?yęPAW5F)7ŧ79:B)fB:E[[_k[$V~?[N[[[[ZZZZBZYY i) .g[EV~?[S[[[[ZZZZBZYY i) ]~A+>~sA|@A:<AaʼAZHA 7?AཹA6<*AX9?2A[ֽ:AL5;BAX9?JA[ֽRAL5;٘i)I9|@YG J<JJJJF&K Y U~?yzQA9F77V9)UB[[G^[uV~?[W^[[[[ZZZZBZYY i) D= 戽))戽戽@)YtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14859, header.stamp.nsec: 0F0 temperature: 13.567257* salinity: 33.375076, density: 1025.000000* values[0]: 0.580879F (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743041360.663165 s, next control iter: 1743041361.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041361.063165 s.5K~,[ D,AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083255< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743041361.063277F (some fields omitted in printout)A3333@A'@AQW~? AA=%"AAyjNA"AZAbAjArAzAAAi|ӿAT\=sA}@AhR<A;A=A ?A$A>"<*A49?2AXGֽ:A<BA49?JAXGֽRAJJJF&KFw> YU~?yB)QBDE[[U[W~?[qh[[[[ZZZZBZYY iz) tnF779)GE[[_M[S4W~?[Fr[[[[BZYY i) HYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041361.923165 s, next control iter: 1743041362.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041362.323165 s.w$5K~,),AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072002< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743041362.323306F (some fields omitted in printout)AGzT@AoG@AW~? AAff%"AAejNA"AZAbAjArAzAAAJ%?AasA}@AEeQA{6=A-A`5?A2A/G*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9}@YG JpJJJJF&K Yg4V~?y˪RA@F{7{7L9?B)PBJE[[_H[CW~?[w[[[[BZYY i) 6JJJF&Kyw> Y_V~?yתQA#BFb7b79AB)UBOE[[?[bW~?[r[[[[BZYY ig) _ YV~?yPA IF777׬9EB)lB\E[[)[@W~?[k[[[[BZYY i) )߉;Ii~@2=  =)) = =y9ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041365.283165 s, next control iter: 1743041365.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 148642, header.stamp.nsec: 020 temperature: 13.5671122* salinity: 33.3751072, density: 1025.0000002* values[0]: 0.5804462F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041365.683165 s.lZ5K~,Zk,AA(\@A#J{@A2X~? AϫA%"AAJkNA"AZAbAjArAzAAA|C@AztA3z@AA .AF=A7A ?APܿAT*AѬ9?2A׽:A=BAѬ9?JA׽RA=٘i)I9z@Y}G JeJJJJF&K Y0V~?y#OAJF77{79)qB[[7%[~W~?[[[[[BZYY i) ʁW;Ii<@0= *>))*>*>dԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041365.683165 s, next control iter: 1743041366.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743041366.103165 s.a5K~,,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065869< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743041366.103283F (some fields omitted in printout)AQ8@AF+@A2X~? AuԫA%"AAikNA"AZAbAjArAzAAAc%@Aݡ8tA"y@AiA$a=AA?AܿAg*Aİ9?2A ׽:A2=BAİ9?JA ׽RA2=٘i)I9y@Y&G JJJJJF&K YpW~?y7OALF{7l9)vB_E[[g![W~?[[[[[BZYY i) C;Ii)@!/= >))>>/ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041366.123165 s, next control iter: 1743041366.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041366.523165 s.g5K~,{,AAHzn@ATa@AGX~? A8٫AeI%"AAdkNA"AZAbAjArAzAAA+%/ @A tAoy@AC)A =AA?AAۿAoҩ*A9?2Aֽ:A.b=BA9?JAֽRA.b=I٘i)I9oy@YG J.JJJJF&K YW~?y'NAMF7779FB)zBbE[[[W~?[[[[[BZYY i) >:IiE@m.= 01>))01>01>dѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041366.543165 s, next control iter: 1743041366.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14865, header.stamp.nsec: 00 temperature: 13.567317* salinity: 33.375111, density: 1025.000000* values[0]: 0.579870F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041366.943165 s.`dn5K~,d],AJ"J*J2J:JBJnJvJAq= ף@A3Ж@A7]X~? AݫA%"AArkNA"AZAbAjArAzAAA@A@"|!tAx@AAI=AAb`?A{ڿAH꫼*Ad9?2ASֽ:Aj=BAd9?JASֽRAj=٘i)I9x@YyG JB=JJJJF&K Y3W~?ygNANFb779)BeE[[O7[W~?[v[[[[BZYY i)  :Ii@8-= 0bC>))0bC>0bC>ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041366.963165 s, next control iter: 1743041367.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041367.363165 s.u5K~,>,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065869< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743041367.363288F (some fields omitted in printout)A@Al@ArX~? AVA%"AAkNA"AZAbAjArAzAAAKT@ANSt$tANx@A<A=A ~߾Aʣ?A ٿA*A 9?2A:ֽ:A/K=BA 9?JA:ֽRA/K=Y@*߾y= <ٓH??@C?Hڿ ?`~ f?G?)@ I٘i)I9Nx@Y G JC=JJJJF&Kx> YMW~?yaNA*߾PF77̵9)B[[[X~?[8[[[[BZYY i) YѹIi@y+=  U>)) U> U> ̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041367.403165 s, next control iter: 1743041367.763175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14866&, header.stamp.nsec: 0&0 temperature: 13.567484&* salinity: 33.375122&, density: 1025.000000&* values[0]: 0.579261&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041367.783165 s.U{5K~,,AJ"J*J2J:JBJnJvJA(\ @AQ @AX~? AA=%"AAkNA"AZAbAjArAzAAAqS> @AE?'tAw@Ad<A=A@վA ~?A`7ؿA-;*A9?2A-ֽ:A=BA9?JA-ֽRA=٘i)I9w@YG JJJJJF&K Y#gW~?y MAQFb779GB)BhE[[G][ X~?[孪[[[[BZYY i) B7Ii@})= Pf>))Pf>Pf>ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041367.803165 s, next control iter: 1743041368.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041368.203165 s.5K~, ,AAQE @AT8 @AX~? AA"%"AAL lNA"AZAbAjArAzAAAD@H @AKB)tA/w@AGXA<Aʎ=AʾA`%?A`.ؿAʥ*A9?2A`ֽ:A=BA9?JA`ֽRA=٘i)I9/w@YrG J%JJJJF&K YW~?y =MARF)7ŧ7a9)BkE[[{ [K3X~?[}[[[[BZYY i) _ IiO@(= x>))x>x>ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041368.243165 s, next control iter: 1743041368.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743041368.623165 s.U5K~,T',AJ"J*J2J:J#?BJ#?nJU5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065869< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743041368.623276F (some fields omitted in printout)AGz @Am @A^X~? AA%"AA.lNA"AZAbAjArAzAAAr36@AM,,tA6v@A^;A$=AA`Ad?AB׿A*A9?2AUֽ:A0K<BA9?JAUֽRA0K<٘i)I9v@YG JfJJJJF&K YVW~?yLATF7,9IB)BoE[[Go[OFX~?[[[[[BZYY i) JPIiB@&= (A>))(A>(A>.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041368.643165 s, next control iter: 1743041369.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14867 , header.stamp.nsec: 0 0 temperature: 13.567632 * salinity: 33.375134 , density: 1025.000000 * values[0]: 0.578670 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041369.043165 s.5K~,B,AA= ף @AT @AX~? AAJ%"AAUPlNA"AZAbAjArAzAAAVtu@A[ .tA%v@A߻A߉=A;;AҠ?AkֿAA*A?9?2A ׽:Ae]<BA?9?JA ׽RAe]<٘i)I9%v@YG J뙼JJJJF&K YW~?y@vLAUF79JB)BrE[[[YX~?[g[[[[BZYY i) Iif@N%= :>)):>:> YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041369.063165 s, next control iter: 1743041369.443187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743041369.463165 s.\5K~,],AJ"J*J2J:J?BJ?nJB5vJAffff @A[ @AX~? AA;%"AArlNA"AZAbAjArAzAAA=>u@AL70tAu@AU\A=AA?AտA*AU9?2A(׽:A<BAU9?JA(׽RA YW~?y#LA VF779)B[[u[lX~?[[[[[BZYY ip) IiF@``#= A">))A">A">YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041369.503165 s, next control iter: 1743041369.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14868, header.stamp.nsec: 00 temperature: 13.567777* salinity: 33.375156, density: 1025.000000* values[0]: 0.578107F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041369.883165 s.y5K~,/x,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076417< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743041369.883278F (some fields omitted in printout)A( @A,C @AMX~? AXA%"AAlNA"AZAbAjArAzAAABy@AlB23tAU4u@AyUAֆ=A/AT?A -ԿA:*A9?2A ׽:A;<BA9?JA ׽RA;<٘i)I94u@Y=G JgJJJJF&K YPW~?yKAXFb779)BuE[[ [xX~?[ྪ[[[[BZYY i) 1ŻIi|@\!=  >)) > >йYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041369.903165 s, next control iter: 1743041370.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041370.303165 s.X5K~,g,AJ"J*J2J:J?BJ?nJ5vJAQ @AuD @AY~? AAp%"AAQlNA"AZAbAjArAzAAA@A=5tA̿t@AAc=AAF?AӿA:*A9?2A2ֽ:A.<BA9?JA2ֽRA.<٘i)I9t@YG JJJJJF&K YX~?ydKAYFj7Z7W9)BxE[[% [UX~?[[[[[BZYY i) NIiXy@= >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041370.323165 s, next control iter: 1743041370.703179 s, wait time: 0.380014 s X~?) .tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14869., header.stamp.nsec: 0.0 temperature: 13.567883.* salinity: 33.375145., density: 1025.000000.* values[0]: 0.577648.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041370.723165 s.5K~,H,AAz @AAΡz @Ar)Y~? A/A-%"AAlNA"AZAbAjArAzAAA4@ApdH7tAXKt@A^;A?=A(A@vx?A@OҿAHE*A9?2Apֽ:AD<BA9?JApֽRAD<٘i)I9Kt@YG JJJJJF&K YX~?y KAZF77!9KB)B{E[[M[tX~?[Ī[[[[BZYY i) Iiv@ = i>))i>i>yi깪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041370.743165 s, next control iter: 1743041371.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041371.143165 s.X/5K~,*,AvPublished command to Gazebo (printed only once in a while):J( dropWeightState: 1"J*J2J:J8 propOmegaAction: 25.132812BJnJ< rudderAngleAction: -0.261799vJ@ elevatorAngleAction: -0.076417< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743041371.143296F (some fields omitted in printout)A ףp @Ab+h @AVAY~? AaA%"AAmNA"AZAbAjArAzAAAu<@Ab;9tAs@AK<A5=A$́A?AҿA=Î*A9?2AgAֽ:A=BA9?JAgAֽRA=٘i)I9s@YgG JB=JJJJF&K Yd9X~?y#JA\Fb779)B~E[[־[ӼX~?[Ǫ[[[[BZYY i) EIit@׾= 0>))0>0>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041371.163165 s, next control iter: 1743041371.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041371.563165 s.5K~,F ,AA3333 @A) @AoYY~? AmAҰ%"AAi%mNA"AZAbAjArAzAAAPcp/a@A ;tA}\s@Ab<A=AnA@?A&>ѿAЏ*Aտ9?2APֽ:A# =BAտ9?JAPֽRA# =Y@myY=^c<ٓH`?@?@Cد?fͿl!?3R??)@ I٘i)I9\s@YG J7C=J:JJJF&Kx> YTX~?y%PJAm]F779)BE[[e;[)X~?[ʪ[[[[BZYY i)  Iiq@M= Q->))Q->Q->YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041371.603165 s, next control iter: 1743041371.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14870, header.stamp.nsec: 00 temperature: 13.568023* salinity: 33.375168, density: 1025.000000* values[0]: 0.577188F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041371.983165 s.5K~,,AJ"J*J2J:JBJnJvJA\( @AB @AqY~? AQ Av%"AAJmNA"AZAbAjArAzAAAI@AJ))]7>]7> YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041372.003165 s, next control iter: 1743041372.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041372.403165 s.&5K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076417< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743041372.403326F (some fields omitted in printout)AQ^ @A_Q @A2Y~? A A?%"AAomNA"AZAbAjArAzAAAQ@@Aq志>tAzlr@AA=ACA Y+?A@iοAm*A9?2A=ֽ:A\=BA9?JA=ֽRA\=٘i)I9lr@YG JAJJJJF&K Y܋X~?y)IA`F77L9TB)B[[ѻ[X~?[Ϫ[[[[BZYY i) U?Iij@#= 5N>))5N>5N>ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041372.423165 s, next control iter: 1743041372.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14871", header.stamp.nsec: 0"0 temperature: 13.568121"* salinity: 33.375187", density: 1025.000000"* values[0]: 0.576700"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041372.823165 s.5K~,-4,AJ"J*J2J:J?BJ?nJ5vJAGz @Aoo @A٢Y~? AA %"AA7mNA"AZAbAjArAzAAAhT@Av@tAq@A34A=A͂.A R?A ͿAdY*Ao9?2A.׽:A =BAo9?JA.׽RA =٘i)I9q@YCG J4JJJaFJF&K YYX~?y+;IAaF)7ŧ79)įBE[[M[Y~?[WҪ[[[[BZYY i) VOIig@Wk= ip>))ip>ip>BƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041372.863165 s, next control iter: 1743041373.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041373.243165 s.5K~,mO,AAףp= @An1 @AY~? AA%"AAmNA"AZAbAjArAzAAADv@AJPAtA?~q@AfA˒=AprA9w?A 3˿ANe*A9?2Ae+׽:Av=BA9?JAe+׽RAv=٘i)I9~q@YG JfJJJJF&K YX~?y-HAcFb779)ȯBE[[5[%Y~?[Ԫ[[[[BZYY i) ^Iie@S= >))>>ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041373.283165 s, next control iter: 1743041373.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743041373.663165 s.5K~,qj,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076417< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743041373.663287F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14872, header.stamp.nsec: 00 temperature: 13.568231* salinity: 33.375206, density: 1025.000000* values[0]: 0.576226F (some fields omitted in printout)A @Aw @AY~? ASA%"AAgmNA"AZAbAjArAzAAA<_KB7@AG+BtAq@AA|=ALA`?A _ɿAΖ*A9?2A+ֽ:Ap =BA9?JA+ֽRAp =Ye߽@lyz=<_ ٓH??@ղ??+?( ?)e߽@ I٘i)I9q@YG JJ_<JJJF&Kx> YX~?y.zHAdFj7j79)̯BE[[o[_:Y~?[֪[[[[BZYY i)  nIia@S= >))>>ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041373.683165 s, next control iter: 1743041374.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041374.083165 s.D5K~, S,AA)\5 @A,( @AY~? AnA݁%"AAWnNA"AZAbAjArAzAAApV)g@A%u@DtAp@AސA=AA4?AǿAJ)*Aΰ9?2AՇֽ:A =BAΰ9?JAՇֽRA =٘i)I9p@Y`G JeJJJJF&K YX~?y0HAeF77w9UB)ѯBE[[ L[OY~?[٪[[[[BZYY i) ]=}Ii]@ = >)) >>ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041374.123165 s, next control iter: 1743041374.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041374.503165 s.5K~,e4,AJ"J*J2J:JBJnJvJARk @AzI|^ @AZ~? AaAZ%"AA}+nNA"AZAbAjArAzAAA 1@ASpEtAZo@A?<A=AXA`?A}ſA=*A9?2AAZս:A=BA9?JAAZսRA=٘i)I9o@Y G JɢJJJJF&K YY~?yD1GAgF)7)7B9)կBE[[[eY~?[۪[[[[BZYY i讽) J8IiwZ@ = ?))??ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041374.523165 s, next control iter: 1743041374.903186 s, wait time: 0.380021 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14873, header.stamp.nsec: 00 temperature: 13.568377* salinity: 33.375198, density: 1025.000000* values[0]: 0.575711F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041374.923165 s.;5K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085404< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743041374.923283F (some fields omitted in printout)A{G @A; @AY Z~? A,Ar5%"AAQnNA"AZAbAjArAzAAAe-f @AloЈFtAio@Af<Ac=AϷA?AÿAj9*A(9?2AXս:A*=BA(9?JAXսRA*=٘i)I9io@YG JJJJJF&K Y2Y~?yj2MGAhF7777 9)گBE[[݄[{Y~?[ܪ[[[[BZYY i) #эIiW@ = ?))??ժYZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041374.943165 s, next control iter: 1743041375.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041375.343165 s.<5K~,,AJ"J*J2J:JO?BJO?nJw5vJAp= @Ah @A9Z~? AA%"AAXxnNA"AZAbAjArAzAAAj9!@A.GtAFn@A+;<AҜ=AOA@?A@¿A*A۶9?2Aս:A=BA۶9?JAսRA=٘i)I9n@Y^G JJJJJF&K YNY~?y3FAiF{79)ޯB[[)w[ۑY~?[ު[[[[BZYY i) ^jIiT@bJ= `E ?))`E ?`E ?תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041375.363165 s, next control iter: 1743041375.743178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14874*, header.stamp.nsec: 0*0 temperature: 13.568477** salinity: 33.375221*, density: 1025.000000** values[0]: 0.575142*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041375.763165 s.85K~,#,AA @AFT @AeSZ~? AGAX%"AAnNA"AZAbAjArAzAAAbL!@AQnHtAIn@A 7;AО=AA?A#AS*A9?2A'ֽ:A=BA9?JA'ֽRA=Yq@VyϞ=7;ٓH??:ͳ?o2T?t Գtf?Y?)q@ I٘i)I9In@YG JJ1<JJJF&Kv> Y kY~?y3~FAVkFŧ779)BE[[d[Y~?[M[[[[BZYY i) 㜼IiP@= ?))}??y̮[ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041375.783165 s, next control iter: 1743041376.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041376.183165 s.6K~, ,AJ"J*J2J:J)?BJ)?nJO5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.247661@ elevatorAngleAction: -0.085404< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743041376.183341F (some fields omitted in printout)A(\B @A5 @AmZ~? AA%"AAnNA"AZAbAjArAzAAAt07"@AT;ItAm@A5TAOF=A-Aq2?A #zA^*AS9?2A`ֽ:A1=BAS9?JA`ֽRA1=٘i)I9m@YG J橼JJJJF&K YDY~?y4FAlF7{7l9)BE[[SLR[:Y~?[[[[[BZYY i) \IiL@4= |?)) |?|?ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041376.203165 s, next control iter: 1743041376.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041376.603165 s.=4 6K~,Ț&,AAQx @A)QGk @AφZ~? AA%"AAnNA"AZAbAjArAzAAA/H "@AItA+m@A]]A$=AoA<A@_E?AA諼*A9?2Aս:A˦=BA9?JAսRA˦=٘i)I9+m@YYG JeJJJJF&K Y|Y~?yW4EAmF7779)BE[[?[Y~?[6[[[[BZYY i) 2֫Ii#I@D= p$?))p$?p$?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041376.623165 s, next control iter: 1743041377.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14875 , header.stamp.nsec: 0 0 temperature: 13.568650 * salinity: 33.375240 , density: 1025.000000 * values[0]: 0.574570 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041377.023165 s.Z6K~,|A,AJ"J*J2J:JBJnJvJAHz @A7N @AZ~? A A%"AAoNA"AZAbAjArAzAAAɉߛp#@Au8JtAl@ANA8=AL=AIS?ApⴿA*A9?2ANս:A=BA9?JANսRA=٘i)I9l@YG JJJJJF&K YY~?y4>EAoFb779TB)BE[[ ,[Y~?[}[[[[BZYY i) OIiE@Ne< ?))??Y,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041377.063165 s, next control iter: 1743041377.423181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743041377.443165 s.=6K~,W]\,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085404< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743041377.443326F (some fields omitted in printout)Aq= @A J @AZ~? A!AE%"AA ;oNA"AZAbAjArAzAAA $@A=KtAXl@AΥA==A\Q=A^?A@N/Al)*A9?2A?zս:A=BA9?JA?zսRA=٘i)I9l@YG JB=JJJJF&K YY~?y4DApF{7{79)BE[[+ [wZ~?[[[[[BZYY i) OɺIi.C@^< Ї"?))Ї"?Ї"?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041377.463165 s, next control iter: 1743041377.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14876, header.stamp.nsec: 00 temperature: 13.568783* salinity: 33.375259, density: 1025.000000* values[0]: 0.573963F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041377.863165 s.+6K~,>w,AJ"J*J2J:JBJnJvJA@Ap @AlZ~? A4"A%"AAGboNA"AZAbAjArAzAAAh$@AMWoKtAmak@A?;A=A]=A`g?A2Aü*Am9?2AMս:A=BAm9?JAMսRA=YQ@C=y=۪;ٓH`I? ?@??inI?O@Gu??)Q@ I٘i)I9ak@YAG JlC=J<JJJF&Ku> YY~?y=4`DAC=qFj79)BE[[{[2Z~?[[[[[BZYY i) ¼Ii>@ < <.'?))y<.'?<.'?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041377.883165 s, next control iter: 1743041378.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041378.283165 s.:R$6K~,,AA(\O@APB@A`Z~? A"A%"AAoNA"AZAbAjArAzAAAk1 H%@A4NKtAj@AuP<A!=A~=A`n?A!|Ax˼*AR9?2AIս:A=BAR9?JAIսRA=٘i)I9j@YG JmǼJJJJF&K Y2Z~?y3CAsFŧ7b7b9)BE[[[&0Z~?[[[[[BZYY i) YɼIi:@< ~+?)) ~+?~+?YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743041378.303165 s, next control iter: 1743041378.683181 s, wait time: 0.380016 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14877., header.stamp.nsec: 0.0 temperature: 13.568967.* salinity: 33.375271., density: 1025.000000.* values[0]: 0.573315.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041378.703165 s.պ*6K~, ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085404< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743041378.703279F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AF~x@A\[~? A #Ax%"AAoNA"AZAbAjArAzAAA?h%@AUO#KtA j@Aו^<Aа=AI=A@u?A\A м*A¼9?2A ӽ:A1=BA¼9?JA ӽRA1=٘i)I9 j@YrG JͼB=JJJJF&K YY0Z~?y2wCAtF-9SB)BE[[ý[SGZ~?[L[[[[BZYY i) мIi6@e< ʕ0?))ʕ0?ʕ0?5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041378.723165 s, next control iter: 1743041379.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041379.123165 s.:16K~,i,AAG@Aԭ@A]"[~? A8#Ays%"AAVoNA"AZAbAjArAzAAAt[J&@A?nSLtA]i@A;A!=Ax>Ax?AA Ѽ*Ag9?2AԽ:AQ=BAg9?JAԽRAQ=٘i)I9]i@YG JмC=JJJJF&K Y{LZ~?y^2CAuF{7{79)B[[V؝[^Z~?[[[[[BZYY i) ׼Iin3@< T5?))T5?T5?YYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743041379.143165 s, next control iter: 1743041379.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041379.543165 s.I86K~,,AJ"J*J2J:JBJnJvJA= ף@AH@A`<[~? A<#Anq%"AAoNA"AZAbAjArAzAAA9i!'@A LtA h@Am6AL=A>A@w?A`9z?A4м*A 9?2AaIս:A=BA 9?JAaIսRA=٘i)I9h@Y G JмJJJJF&K YhZ~?y1BAwF7)79)BE[[Lo[1vZ~?[m[[[[BZYY i) 3߼Iix0@L< :?)):?:?fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041379.583165 s, next control iter: 1743041379.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14878, header.stamp.nsec: 00 temperature: 13.569165* salinity: 33.375271, density: 1025.000000* values[0]: 0.572582F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041379.963165 s.y>6K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085404< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743041379.963290F (some fields omitted in printout)Affff&@AE$]@AaV[~? A#Ar%"AA*'pNA"AZAbAjArAzAAA@?1'@AKtA?g@AmK:A&}=Ao0>A@_u?A 8ʕ?Aϼ*AW9?2Aս:AE=BAW9?JAսRAE=Y @gh/>y(z=7;ٓHh?ſ?@?-?? ̇LI ?) @ I٘i)I9g@Y2 G J мB=J<JJJF&Kt> YmZ~?y?0BAh/>xF7779)BE[[,#[xZ~?[[[[[ZZ¸BZYY i¸u=) *ӼIi+@< H>?))~vH>?H>?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041380.003165 s, next control iter: 1743041380.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743041380.383165 s.E6K~,4,AJ"J*J2J:J{?BJ{?nJ5vJA(\@Aő"O@A^p[~? A"Av%"AANpNA"AZAbAjArAzAAAnD\(@AKtAOg@A:dA=AzE>A@*p?A~?AHҼ*A9?2A]!ֽ:A=BA9?JA]!ֽRA=٘i)I9Og@Y G JмC=JJJJF&K Y8Z~?y.AAyF77{7W9PB)BE[[a[Z~?[[[[[ZZBZYY i) !ǼIi{'@/a< ҔC?)):ҔC?ҔC?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041380.403165 s, next control iter: 1743041380.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14879&, header.stamp.nsec: 0&0 temperature: 13.569372&* salinity: 33.375290&, density: 1025.000000&* values[0]: 0.571851&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041380.803165 s.wAL6K~,{g3,AA@A@AS[~? AL"A~%"AAupNA"AZAbAjArAzAAA`(@A }KtA}f@AA=A`]Y>Ag?A`F?A$*A9?2A>Խ:A'<BA9?JA>ԽRA'<٘i)I9f@YP G JJJJJF&K YZ~?y?-$AA{F77"9)BE[[0[Z~?[[[[[ZZBZYY i) NIi#@da< *_H?)) *_H?*_H??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041380.823165 s, next control iter: 1743041381.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041381.223165 s.gS6K~,HN,AJ"J*J2J:JL?BJL?nJg5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083959< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743041381.223283F (some fields omitted in printout)Az@AoH@A>[~? A!A@%"AA=pNA"AZAbAjArAzAAAtՖ)@AMI)KtAe@A 9A=Al>A]?A@?A*A9?2A<Խ:AA<BA9?JA<ԽRAA<٘i)I9e@Y G JJJJJF&K YZ~?y+@A|F77779OB)"BE[[-<[dZ~?[ [[[[ZZBZYY i) BIi @< J1M?))J1M?J1M?y)J=vӪYIYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041381.243165 s, next control iter: 1743041381.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041381.643165 s.uY6K~,*i,AA ףp@A>e@A[~? A A %"AA}pNA"AZAbAjArAzAAAr^3*@AߝJtA6d@A<At=AT>A`\R?A%l?A?*A/9?2A.}Խ:AAn<BA/9?JA.}ԽRAAn<٘i)I9d@YG G JaJJJJF&K YZ~?y@*2@A}F{79)(BE[[=[UZ~?[[[[[ZZBZYY i) Ii@<  R?)) R? R?tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14880, header.stamp.nsec: 00 temperature: 13.569611* salinity: 33.375313, density: 1025.000000* values[0]: 0.571011F (some fields omitted in printout)YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041381.663165 s, next control iter: 1743041382.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041382.063165 s.`6K~,[ ,AJ"J*J2J:J-?BJ-?nJG5vJA33333@AbQ+&@A[~? AA%"AApNA"AZAbAjArAzAAA.E*@AJtAd@AgX<A/=A >A0E?A!?AuBռ*A9?2A Խ:A};BA9?JA ԽRA};Y U=V>y/=՚X<ٓH2?ѿ1?!??xT@ ?`?) U= I٘i)I9d@Y G JB=JyܽJJJF&Ks> Y[~?y'?A>F{79).B[[\=[[~?[[[[[ZZBZYY iØ=) =Ii @< V?))1tV?V?vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041382.083165 s, next control iter: 1743041382.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041382.483165 s.u_g6K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.238472> elevatorAngleAction: 0.074022< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199432 time: 1743041382.483293F (some fields omitted in printout)A\h@AHc[@A[~? AA%"AAqNA"AZAbAjArAzAAAMul+@A fZItAmc@A !<A=<A >A5?A`ۻ?A*A:9?2A=Gս:AҺBA:9?JA=GսRAҺ٘i)I9mc@Yj G JżC=JJJJF&K Y*[~?y%?AF7M9NB)3BùE[[j=[[~?[ [[[[ZZBZYY i) quIi@t < ([?))([?([?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041382.503165 s, next control iter: 1743041382.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14881, header.stamp.nsec: 00 temperature: 13.569871* salinity: 33.375328, density: 1025.000000* values[0]: 0.570131F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041382.903165 s.m6K~,͹,AJ"J*J2J:JBJnJvJAQ@A@Ab \~? AA5%"AA9qNA"AZAbAjArAzAAAT=,@AayђHtA?b@A:A <A7>AG&?Aÿ?A&z*A=:?2Acpӽ:A8BA=:?JAcpӽRA8I٘i)I9b@Y G J$B=JJJJF&K YYE[~?y)#?AF77779)6BƹE[[3=[3[~?[o[[[[ZZBZYY i) A`r?AG?A*A:?2A`ӽ:ABA:?JA`ӽRA٘i)I9b@Y G J?TC=JJJJF&K Y`[~?y F?AF779MB)8BɹE[[=[(L[~?[[[[[ZZBZYY i=) oIi @<< e?))e?e?yL= )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041383.343165 s, next control iter: 1743041383.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14882*, header.stamp.nsec: 0*0 temperature: 13.569985** salinity: 33.375336*, density: 1025.000000** values[0]: 0.569610*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041383.743165 s.W{6K~,y,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083355< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743041383.743270F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= @A1@A>\~? A|A %"AAnqNA"AZAbAjArAzAAAsa>-@AݸFtA`b@AEgA&ϨA!9>A@b?Ax?AY*Ab :?2Aӽ:A1BAb :?JAӽRA1٘i)I9`b@Y G JJJJJF&K Y{[~?yo ?AF79LB)9B̹E[[>[kd[~?[[[[[ZZBZYY i) V/ZIi@f< tj?))tj?tj?ym=n)Yy YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041383.763165 s, next control iter: 1743041384.143179 s, wait time: 0.380014 s&{[~?)&o rAdjusting time to match Gazebo time: 1743041384.163165 s.w}6K~,q ,AA@@A<2@AW\~? AAn+%"AAqNA"AZAbAjArAzAAAj-@AXEtALb@A*IA'A>A?A J?Ai*A>9?2AYԽ:AVӼBA>9?JAYԽRAVӼY>ù>y)IٓH ?&׿ *?@?, <)٠?`9 ?)> I٘i)I9Lb@Y G J>J8JJJF&Kr> Y;[~?y=8?A>Fŧ7b7w9)ϹE[[(>[Z|[~?[[[[[BZYY i_l=)  HIi@Ө< Zo?))rZo?Zo?y#ȫ=3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041384.183165 s, next control iter: 1743041384.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041384.583165 s.J "J 6K~*J2J, S%,A:J?BJ?nJ5vJA)\u@Aබh@ADq\~? AAN%"AAqNA"AZAbAjArAzAAAr.@A{Ǿ}DtACSb@AAAWD4A>A?A` ?AM;*A9?2AWս:AZBA9?JAWսRAZ9٘i)I9Sb@Y G JF:JJJJF&K Y[~?y e?AFj7SI7B9KB)ҹE[[,>[k[~?[~[[[[BZYY i=) _7Ii?< It?))mIt?It?y=!r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041384.603165 s, next control iter: 1743041384.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14883, header.stamp.nsec: 00 temperature: 13.569938* salinity: 33.375347, density: 1025.000000* values[0]: 0.569501F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041385.003165 s.} 6K~,a4@,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.256698> elevatorAngleAction: 0.067846< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743041385.003297F (some fields omitted in printout)AR@A&|@Ar\~? AAu%"AAqNA"AZAbAjArAzAAA: /@AհL:CtAA@?A 3?A;*A :?2Aӽ:A@BA :?JAӽRA@٘i)I9vb@Y G J};B=JJJJF&K  9Y[~? 9y?AF77 9)7B[[@>[[~?[![[[[BZYY i) %Ii?HΝ<  Dy?))  Dy? Dy?yge=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041385.043165 s, next control iter: 1743041385.403181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743041385.423165 s.$u6K~,[,AJ"J*J2J:JBJnJvJA{G@A1>@A~\~? AA%"AA rNA"AZAbAjArAzAAAq4ݔ/@A=AtAb@AoP<AxAg>Aň?A@_?A +<*A:?2Aӽ:ALBA:?JAӽRAL٘i)I9b@Y G J<C=JJJJF&K Y][~?y?AF{7{79JB)5BֹE[[ T>[[~?[[[[[BZYY i) 9Ii1?< G~?))G~?G~?yw=ק*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041385.443165 s, next control iter: 1743041385.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14884, header.stamp.nsec: 00 temperature: 13.569761* salinity: 33.375359, density: 1025.000000* values[0]: 0.569739F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041385.843165 s.ݜ6K~,u,AAp= @A; @Af\~? A'AT%"AAFrNA"AZAbAjArAzAAAK@0@A i@tA8c@AkQ<AHA>ADf?A ?A6]<*A:?2A\8Խ:A# BA:?JA\8ԽRA# ٘i)I9c@Y* G J B<JJJJF&K Y[~?yu?AF779GB)/B׹E[[ i>[0[~?[ߪ[[[[BZYY i) (Ii?t< M?))M?M?Ѹ*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041385.883165 s, next control iter: 1743041386.243180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743041386.263165 s.6K~,ؐ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067846< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199412 time: 1743041386.263284F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@An?@A%\~? A A%"AA^lrNA"AZAbAjArAzAAA]g0@A4X>tAIjc@A;AaёA>A,A?AY?A1<*AZ :?2AzԽ:A~BAZ :?JAzԽRA~Yk>>yБ[2;ٓHju?iݿ` ? 6? :%6?Yvx?@?)k> I٘i)I9jc@Yh G J s<JJJJF&K[r> Y\~?yx O@A>Fŧ7ŧ7m9FB)+BڹE[[E|>[[~?["ު[[[[BZYY iul=) ڶIi?$< &?))r&?&? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041386.283165 s, next control iter: 1743041386.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 148852, header.stamp.nsec: 020 temperature: 13.5694852* salinity: 33.3753812, density: 1025.0000002* values[0]: 0.5702122F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041386.683165 s.9m6K~,,AA(\@A'u@A\~? A A.%"AAÑrNA"AZAbAjArAzAAA[0@A\N;=tAGc@AAΘA>A?A ?A`<*A :?2AģԽ:AIBA :?JAģԽRAI٘i)I9c@Y G J <JJJJF&K Y2\~?y|@AF7{789)&BݹE[[>[ \~?[,ܪ[[[[BZYY i)  ɻIi?Fˆ< ?))G??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041386.683165 s, next control iter: 1743041387.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743041387.103165 s.!6K~,ؚ,AJ"J*J2J:JBJnJvJAQ@ARE@A#]~? AAd%"AArNA"AZAbAjArAzAAA[0@A^;tAEmd@AܸCAAkQ?A`?A@e?A=x<*Az0:?2A.ҽ:ABAz0:?JA.ҽRA٘i)I9md@Y G JK<JJJJF&K YHK\~?yAAF77 9)"B[[>[%\~?[ ڪ[[[[BZYY i) 9Iip?({< t0?)) t0?t0?E*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041387.123165 s, next control iter: 1743041387.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041387.523165 s.6K~,{,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057837< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743041387.523285F (some fields omitted in printout)AHz@AY@A^]~? AAH%"AArNA"AZAbAjArAzAAA)FnE1@A)C9tAe@AC^A#ApD?A?A@?A|<*Aw=:?2AHҽ:AҋBAw=:?JAHҽRAҋ٘i)I9e@Ya G J<JJJJF&K Yvd\~?yuAA EF{7 9EB)BE[['Ԝ>[&=\~?[ת[[[[BZYY i) Ii?Pz}< ?))??yi"m=Z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041387.543165 s, next control iter: 1743041387.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14886, header.stamp.nsec: 00 temperature: 13.569093* salinity: 33.375397, density: 1025.000000* values[0]: 0.570873F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041387.943165 s.Xd6K~,B],AJ"J*J2J:JBJnJvJAq= #@A@Ai6]~? AA%"AAcsNA"AZAbAjArAzAAA[,AAY@A2L@A@N]~? AAU%"AA$sNA"AZAbAjArAzAAA2w1@A y5tA_9f@A{:AMA?Ami?A@?AlD<*AGF:?2AԽ:ABAGF:?JAԽRAY|\>?y@]:ٓH`?A- 94?`? N?.Z??)|\> I٘i)I99f@Y G J<J'JJJF&Kr> Yl\~?y>BA?F7b9CB)BE[[s<>[l\~?[Ҫ[[[[BZYY i) vIi?lch<  א?))q א? א?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041388.383165 s, next control iter: 1743041388.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14887&, header.stamp.nsec: 0&0 temperature: 13.568725&* salinity: 33.375401&, density: 1025.000000&* values[0]: 0.571705&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041388.783165 s.W6K~,2,AJ"J*J2J:J[?BJ[?nJw5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.236289> elevatorAngleAction: 0.057837< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743041388.783317F (some fields omitted in printout)A(\@ANP@Ae]~? AEAX%"AAHsNA"AZAbAjArAzAAAR2@A5I3tAf@A,<A4Ab.?AP6?A`c?AYj<*AsI:?2A ~ս:A$BAsI:?JA ~սRA$٘i)I9f@Yy G J<JJJJF&K Y3\~?yBAF77-9) B[[x>[\~?[Ϫ[[[[BZYY i=) muĺIiy?\< e?))%e?e?>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041388.803165 s, next control iter: 1743041389.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041389.203165 s.6K~,M,AAQ@AcD@AF}]~? AA%"AATlsNA"AZAbAjArAzAAAe2@AOsz1tAfag@Ad<APAL?A?AK?AlN<*An:?2Aӽ:AcIBAn:?JAӽRAcI٘i)I9ag@Y G JK<JJJJF&K Y\~?yHCAFb779@B)BE[[>[?\~?[ͪ[[[[BZYY i) Ii[\~?[ɪ[[[[BZYY i)  9Iiۜ?tH< ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041389.643165 s, next control iter: 1743041390.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14888 , header.stamp.nsec: 0 0 temperature: 13.568293 * salinity: 33.375412 , density: 1025.000000 * values[0]: 0.572469 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041390.043165 s.6K~,Â,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066894< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743041390.043295F (some fields omitted in printout)A= ף0@A *#@A`]~? AA^.%"AAsNA"AZAbAjArAzAAA8S2@A0xK,tAvh@Ax:AAi&?A q?A?A<*At:?2Aӽ:ABAt:?JAӽRA٘i)I9vh@Y{ G J<JJJJF&K Y\~?yCAF9>B)BE[[>[\~?[ƪ[[[[BZYY i) R:IiV?n@< 1?))1?1?yf=ÿ*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041390.063165 s, next control iter: 1743041390.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041390.463165 s.V6K~,褝,AJ"J*J2J:JBJnJvJAfffff@Ac^Y@A]~? AA{%"AA3sNA"AZAbAjArAzAAA4y63@A~"\e*tAnh@A>AA+?AFZ?A@z?Ac<*Aq:?2ADԽ:A"BAq:?JADԽRA"YxU>VC+?y󉽙HٓH ?˭%? ?@ࡿ ;?ǁ?)xU> I٘i)I9h@Y G Ja<B=J<JJJF&Kr> Y ]~?ySݪ:DAC+?F7777X9)B[[>[\~?[Tê[[[[BZYY i) ;Iiy?73< ]ȝ?))ur]ȝ?]ȝ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041390.483165 s, next control iter: 1743041390.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14889, header.stamp.nsec: 00 temperature: 13.567933* salinity: 33.375431, density: 1025.000000* values[0]: 0.573221F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041390.883165 s.y6K~,I,AA(@A@A]~? AAr%"AAjsNA"AZAbAjArAzAAA=/z3@A'tAi@Ay`AזAJ=0?A2?Ap?A]ۛ<*Am:?2A<Խ:A BAm:?JA<ԽRA ٘i)I9i@YG Jޝ<C=JJJJF&K Y ]~?yתDAFŧ7b7#9=B)BE[[t>[\~?[ǿ[[[[BZYY i) 8N;Iiw?G(< d?))ᓃd?d?ո*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041390.903165 s, next control iter: 1743041391.283183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743041391.303165 s.J "J *J 2J :J ?BJ ?nJ 5]6K~vJ,g,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.256988> elevatorAngleAction: 0.066894< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199182 time: 1743041391.303291F (some fields omitted in printout)A@Aq@A]~? AA%"AA:tNA"AZAbAjArAzAAA(7L3@AI,@%tAj@A|<AAZ5?A?A[?A<*A:?2A>ӽ:A_BA:?JA>ӽRA_٘i)I9j@YlG Jn<JJJJF&K Y7]~?ygҪDAF9[]~?[ [[[[BZYY i) J;Iiv?4< ?)) ??*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743041391.323165 s, next control iter: 1743041391.703182 s, wait time: 0.380017 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14890., header.stamp.nsec: 0.0 temperature: 13.567587.* salinity: 33.375450., density: 1025.000000.* values[0]: 0.573927.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041391.723165 s.6K~,H,AAz@A 7@A^~? A;߫Aq%"AA:tNA"AZAbAjArAzAAA3@A"tA1~j@A4QAA/:?A?AJ"?A|<*A:?2Aӽ:A$BA:?JAӽRA$٘i)I9~j@YG J˒<JJJJF&K Y-M]~?y̪PEAF7{798B)BE[[)M?[']~?[$[[[[BZYY i) MO;Iih?< ?))??dz*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041391.743165 s, next control iter: 1743041392.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041392.143165 s.X/7K~,* ,AJ"J*J2J:JBJnJvJA ףp=@A@1d0@A#^~? AګA#%"AA[tNA"AZAbAjArAzAAAŌTA4@Ag`tA5j@AL;AA??AY?A`?A%<*Aۊ:?2A(Խ:ABAۊ:?JA(ԽRA𼙘٘i)I9j@YG JO<JJJJ F&K YVc]~?yzǪEAF77797B)BE[[ ?[>]~?[[[[[BZYY i=) R;IiM[?Z < sZ?))sZ?sZ?r*Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041392.163165 s, next control iter: 1743041392.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041392.563165 s.7K~,[ $,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076418< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743041392.563284F (some fields omitted in printout)A3333s@A])f@Ap/^~? AիAJ#%"AA"|tNA"AZAbAjArAzAAA9ô4@A rtAck@AbW<AAE?A?A:?AI<*A:?2AXս:ApBA:?JAXսRApY ?D?y@X<ٓH?@DD ;4?@?P??`?) ? I٘i)I9ck@YCG J&<J <JJJ F&KVs> Yw]~?yZFAD?F77{7M!96B)ۯBE[[a ?[=U]~?[߯[[[[BZYY i) Ӽ;IiG?W; ?))kt??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041392.583165 s, next control iter: 1743041392.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14891, header.stamp.nsec: 00 temperature: 13.567230* salinity: 33.375446, density: 1025.000000* values[0]: 0.574569F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041392.983165 s.7K~J"J,>,A*J2J:J?BJ?nJ<5vJA\@A8j@AoD^~? A)ѫA%"AA5tNA"AZAbAjArAzAAAsZ4@AsLtA{k@AN<A@A;J?A@N?Al?A<*A|:?2Aս:ABA|:?JAսRA󼙘٘i)I9k@YG J<JJJJ F&K Y]~?y:\FAF#9)دB[[C?[k]~?[[[[[BZYY i) & elevatorAngleAction: 0.076418< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743041393.823306F (some fields omitted in printout)AGz@A>r@Aum^~? AǫADA%"AAtNA"AZAbAjArAzAAAQ=5@At}wtAl@AZAbA T?A 7?A p?AӒ<*A:?2Aaӽ:A1BA:?JAaӽRA1٘i)I9l@Y G J<B=JJJJF&K Y]~?y GAF7777&91B)˯BE[[?[ŗ]~?[8[[[[BZYY i)  Y]~?y GAj^?F7777C*9/B)ïBE[[k'?[]~?[Q[[[[BZYY i) 6!@]_; #}?))Nv#}?#}?D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041394.683165 s, next control iter: 1743041395.063185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743041395.083165 s.E17K~,3S,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240532> elevatorAngleAction: 0.076418< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743041395.083302F (some fields omitted in printout)A)\µ@A~@A^~? A'Au%"AAQ5uNA"AZAbAjArAzAAA5@Ai tA n@A(AAc?AJ?AF?AT<*Avs:?2Aս:AN BAvs:?JAսRAN ٘i)I9n@YG Jv<JJJJF&K Y\]~?yg HAFj7j7 ,9)B[[O\-?[ ]~?["[[[[BZYY i) БON; 6?))L6?6?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041395.123165 s, next control iter: 1743041395.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041395.503165 s.77K~,P4,AJ"J*J2J:JBJnJvJAR@Acx@A^~? AA%"AAcRuNA"AZAbAjArAzAAAmDj*6@A$tAn@Ao\ ;AܕAlh?A@?A`l_?AJ<*A:?2AJmԽ:Ap BA:?JAJmԽRAp ٘i)I9n@Y1G J.<JJJJF&K Y]~?y~HAF777-9.B)BE[[2?[]~?[č[[[[BZYY i) _@a; ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041395.523165 s, next control iter: 1743041395.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14894, header.stamp.nsec: 00 temperature: 13.566266* salinity: 33.375484, density: 1025.000000* values[0]: 0.576428F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041395.923165 s.9>7K~,,AA{G!@Ab[>@A%^~? A竫ASN%"AAnuNA"AZAbAjArAzAAAA﮷b6@A7tA o@A2<AAAn?AG?A`?A,\<*A:?2Ar ս:A` BA:?JAr սRA` ٘i)I9 o@Y}G J<JJJJF&K Y^~?yHAFb77/9*B)BE[[qb8?[^~?[8[[[[BZYY i) rn37>; &?))&?&?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041395.943165 s, next control iter: 1743041396.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041396.343165 s. elevatorAngleAction: 0.076418< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743041396.343304F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@Ah.I@Ae^~? AAW%"AAuNA"AZAbAjArAzAAA2v06@A!&:sAo@ANb<AA2s?AI?A?A<*Ay:?2Aս:A) BAy:?JAսRA) ٘i)I9o@YG Jԕ<JJJJF&K Y$^~?y:;IAFZ7Z7m19)B[[=?[-^~?[[[[[BZYY iU=) } ; ?))??*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041396.363165 s, next control iter: 1743041396.743178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14895&, header.stamp.nsec: 0&0 temperature: 13.565967&* salinity: 33.375515&, density: 1025.000000&* values[0]: 0.577097&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041396.763165 s.8K7K~,#0,AǍ@A5@AD^~? A1A0%"AAGuNA"AZAbAjArAzAAA4_6@AYsA p@A,<AA Nx?A@?AX?AԞ<*Aq:?2Afս:Af BAq:?JAfսRAf ٘i)I9 p@YG J<JJJJF&K YR6^~?yIAF{7{7839(B)B E[[C?[X*^~?[|[[[[BZYY i) m; BN?))BN?BN?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041396.783165 s, next control iter: 1743041397.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041397.183165 s.R7K~,cK,AJ"J*J2J:JBJnJvJA(\@AmW胵@A_~? A,A%"AAuNA"AZAbAjArAzAAA<c7@AwN*esAp@A58A@A%W}?A`0?A ݧ?A<*Afe:?2Aս:An3BAfe:?JAսRAn3٘i)I9p@YkG J<<JJJJF&K YH^~?yyIAF7759)B[[,I?[0>^~?[v[[[[BZYY i) aW: O?))O?O?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041397.203165 s, next control iter: 1743041397.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041397.603165 s.54Y7K~,f,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085611< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743041397.603312F (some fields omitted in printout)AQ@AYH@A_~? A AQ%"AAVuNA"AZAbAjArAzAAA]L697@AX5sA q@AABAA1?Ax?A?A;Ϭ<*AY:?2Aս:A.BAY:?JAսRA.٘i)I9 q@YG JL<JJJJF&K YZ^~?y sVJAFb7769'B)B E[[N?[Q^~?[Tp[[[[BZYY i) +: ?))??y\>=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041397.623165 s, next control iter: 1743041398.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14896 , header.stamp.nsec: 0 0 temperature: 13.565639 * salinity: 33.375507 , density: 1025.000000 * values[0]: 0.577765 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041398.023165 s.Z`7K~,{,AJ"J*J2J:J?BJ?nJ5vJAHz.@AV!@A%_~? AҍA˓%"AAuNA"AZAbAjArAzAAA9*k7@A3sAq@AcA .Aă?A@?AB?A <*AN:?2Aֽ:ABAN:?JAֽRA٘i)I9q@YG J<JJJJF&K Y m^~?yTlJAF77j789#B)B E[[zT?[d^~?[i[[[[BZYY i) ҝٛ: f?))f?f?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041398.063165 s, next control iter: 1743041398.423177 s, wait time: 0.360012 s m^~?) Tl rAdjusting time to match Gazebo time: 1743041398.443165 s.8f7K~,B],AAq= c@AqYV@A5_~? A~AL%"AA vNA"AZAbAjArAzAAA].7@A?sAKr@AF$7AAk?A?A?A̞<*AC:?2A*tֽ:ArBAC:?JA*tֽRAr٘i)I9Kr@YwG Jٴ<JJJJF&K YI^~?yeKAFSI787c:9"B)BE[[&Z?[mw^~?[uc[[[[BZYY i) ,AJ"JvPublished command to Gazebo (printed only once in a while):*J( dropWeightState: 12J:J8 propOmegaAction: 25.132812BJ< rudderAngleAction: -0.261799nJ> elevatorAngleAction: 0.085611< massPositionAction: 0.000000vJ4 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743041398.863292F (some fields omitted in printout)A@A΅@AE_~? AAˊ%"AA\&vNA"AZAbAjArAzAAAؑB7@ARVsAr@A{+AAD"?A5?A ?A<*A8:?2Aֽ:A6BA8:?JAֽRA6Y9Z?L)?yc,ٓHz?@V@8`?`ͦ?`o?@qoe?)9Z? II٘i)I9r@YG Jm<B=J/JJJF&K> Y̌^~?y]KA)?F{7Z7.<9)B[[_?[F^~?[\[[[[BZYY i) gvNA"AZAbAjArAzAAA^hB7@AbsABs@Ae;A"]AR܋?A@k?A ?AW<*A.:?2As׽:A;BA.:?JAs׽RA;٘i)I9s@Y4G Jɸ<C=JJJJF&K YM^~?y(VKAFj7=9B)BE[[Pe?[͚^~?[HV[[[[BZYY i) m@ elevatorAngleAction: 0.085611< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743041400.123306F (some fields omitted in printout)AG:@A[z4-@Ar_~? A-mA %"AAkvNA"AZAbAjArAzAAA AU8@A;sAt@AEMAF77{7XC9)nB[[av?[<^~?[T]ٓH?y@ML^??7?Mvu&?)s? I٘i)I9v@YG JJ<C=JqJJJ%F&Ks> Y^~?y6MA?F777#E9)iB[[ |?[^~?[:[[[[BZYY i) > elevatorAngleAction: 0.085611< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743041401.383320F (some fields omitted in printout)A(@Aa@A_~? AXA %"AAϪvNA"AZAbAjArAzAAA'r08@ANsAv@AwOAʵA i?A4t?A e?A7<*A):?2Aaս:A BA):?JAaսRA ٘i)I9v@Y3G J<JJJJ&F&K Y^~?y.7NAF7F9B)_BE[[i?[T^~?[2[[[[BZYY i) BZYY i¸>ǣ) +sA=x@A,AHA?A`?A -?A]<*A*:?2Adս:ABA*:?JAdսRA٘i)I9=x@YG J<B=JJJJ)F&K Y^~?y*OAF7777J9)SB[[=?[ _~?[b#[[[[ZZZZBZYY i) xsA y@A=;ArAS?A`8`߀??Y"{?@Ԧ? ?)ۆ? I٘i)I9y@YG J=B=J=JJJ+F&Kv> Y_~?y PA?F)7ŧ7N9B)ABE[[-y?[ %_~?[[[[[ZZZZBZYY i) :?2A'ֽ:ALWBA*>:?JA'ֽRALW٘i)I9z@YG J<C=JJJJ-F&K Y> _~?ypPAF77O9);B[[c?[1_~?[ [[[[ZZZZBZYY i) aD:?2A۰ֽ:A{BA>:?JA۰ֽRA{٘i)I9y{@YG J<B=JJJJ.F&K Y_~?y9PAF)7ŧ7Q9B)3BE[[T?[5>_~?[n[[[[ZZZZBZYY i) Ab?A F?Ax?A!<*A2:?2Aoֽ:A<BA2:?JAoֽRA<٘i)I9|@YG JZ<JJJJ1F&K Y #_~?yeQAFCU9 B)'BE[[@?[;U_~?[[[[[ZZZZBZYY i) 'tJJJ2F&KCy> Y(_~?yQA?F7W9)$B[[5?[__~?[,[[[[ZZZZBZYY iJh~) ߰a_~?yvQAFj7Z79^9)B[[B:?[_~?[Ʃ[[[[BZYY i) P?A<*A9?2Aֽ͌:A =BA9?JAֽ͌RA =YD??yȞ{=KJ<ٓH`?K~?`?y>??n=??)D? I٘i)I9|@YG JJY>JJJ9F&Kx> YSA_~?yT!QA?F777`9) B[[:?[_~?[[[[[BZYY i{?j) {F&K YK_~?y>OAF7{7.g9),B[[Gj?[_~?[5[[[[BZYY i) lK;IEUH?iV*  @)) @ @y׾jժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041408.963165 s, next control iter: 1743041409.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041409.363165 s.8K~,>W,AA@A*s@A:`~? AǪAN&"AAɣwNA"AZAbAjArAzAAA :S:@A{xsAz@AK>ۻAW=A"?A%\?AJ?A*A9?2AY׽:A =BA9?JAY׽RA =Y}??yV=:ۻٓH@@r}?+ B?g{`?)}? I٘i)I9z@YG JJ_=JJJ@F&Kx> YK_~?yqfOA?F77j7h9B).BE[[v?[_~?[鏩[[[[BZYY i) `;IOFH?i!2 @))@@yƉתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041409.383165 s, next control iter: 1743041409.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14908&, header.stamp.nsec: 0&0 temperature: 13.562853&* salinity: 33.375610&, density: 1025.000000&* values[0]: 0.583547&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041409.783165 s.]8K~,r,AJ"J*J2J:JBJnJvJA(\@A O@A>`~? AA4&"AA+wNA"AZAbAjArAzAAAs9:@AKP1ssA>z@AL;A>f=Ať?Aڙ?AY?A`.*A9?2Aֽ:A/1 =BA9?JAֽRA/1 =٘i)I9z@Y6G JJJJJAF&K YK_~?yNAFZ7Z7j9)2B[[?[_~?[[[[[BZYY i) y$;I6H?i+ˉ8 @))@@GתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041409.823165 s, next control iter: 1743041410.183179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743041410.203165 s.#8K~,6,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066600< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743041410.203301F (some fields omitted in printout)AQE@A 8@A@`~? A鷪A&"AAíwNA"AZAbAjArAzAAAOu:@AmHnsAy@Aɱ8<AN`=A-?A*ձ?A $f?A\>*A^9?2Aڅֽ:A, =BA^9?JAڅֽRA, =٘i)I9y@YG JiJJJJBF&K YHK_~?yzNAFb77l9)7B[[ś?[_~?[}[[[[BZYY i) :I&H?i0= @))@@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041410.223165 s, next control iter: 1743041410.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041410.623165 s.Y)8K~,e,AJ"J*J2J:JBJnJvJAGz@A2om@AC`~? AۯAn&"AAwNA"AZAbAjArAzAAAqַF:@AS2]isAx@A]<AK|=A?A?A p?A 贼*A:?2Aֽ:A =BA:?JAֽRA =٘i)I9x@Y~G JJJJJDF&K YK_~?y r,NAF77j7Yn9)$@))>$@>$@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041411.063165 s, next control iter: 1743041411.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041411.463165 s.^78K~J"J*J, ,A2J:J?BJ?nJ\5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066600< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743041411.463299F (some fields omitted in printout)Affff@Al\@AE`~? AAީ&"AAwNA"AZAbAjArAzAAARZ:@AyW_sAȿw@A q[A`v=A` ?AR?AF~?A*A|:?2AX/׽:A=BA|:?JAX/׽RA=Y?c?y]v=\ٓH`@(D? h? nK`{?)? I٘i)I9w@YG J>JJJJFF&Kx> YG_~?y{`_MA?Fŧ77q9)CB[[8?[_~?[`[[[[BZYY i) ZsA4w@A0i!AP =A?A`p?AK?AT*AX:?2Am׽:Aƛ<BAX:?JAm׽RAƛ<٘i)I94w@YuG JJJJJHF&K YD_~?yWLAF7~7s9)HB[[?[_~?[V[[[[BZYY i) a IG?i+P >(@))>(@>(@3ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041411.923165 s, next control iter: 1743041412.283179 s, wait time: 0.360014 sD_~?)W rAdjusting time to match Gazebo time: 1743041412.303165 s.TD8K~,og,AJ"J*J2J:J?BJ?nJ/5vJAQ@A)D@AF`~? AA&"AAwNA"AZAbAjArAzAAA6:@AIUsA֮v@A`Ao=Au?AvA?A!*A:?2As׽:A?'<BA:?JAs׽RA?'<٘i)I9v@Y#G J8JJJJIF&K YA_~?yNLAFZ7SI7u9B)JBE[[S?[_~?[_M[[[[BZYY i) cFIG?iեDT خ@))خ@خ@GƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041412.323165 s, next control iter: 1743041412.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14911., header.stamp.nsec: 0.0 temperature: 13.563635.* salinity: 33.375603., density: 1025.000000.* values[0]: 0.581496.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041412.723165 s.K8K~,H.,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066600< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743041412.723280F (some fields omitted in printout)Az@Af3z@A#F`~? AsA&"AAvwNA"AZAbAjArAzAAADh:@A%³PsA9,v@A )A =A ?A@\Ap?A>*A:?2A?׽:A<BA:?JA?׽RA<٘i)I9,v@YG JtB=JJJJJF&K Yt>_~?y9F4LAF77Nw9)NB[[U>?[Ĭ_~?[C[[[[BZYY i) dIG?iW 8@))8@8@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041412.743165 s, next control iter: 1743041413.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041413.143165 s.Z/R8K~,*I,AJ"J*J2J:JBJnJvJA ףp@A?d@A)E`~? A^A_!&"AAkwNA"AZAbAjArAzAAA:@AF3KsAQu@AѺAFj=A?AAz?A) *A,:?2Aֽ:A<BA,:?JAֽRA<٘i)I9u@YG JC=JJJJLF&K Y\;_~?yz=KAF{7{7y9)RB[[j`?[,_~?[$:[[[[BZYY i) IG?i!sX %@))%@%@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041413.183165 s, next control iter: 1743041413.543178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041413.563165 s.X8K~,[ d,AA3333@A- (@AC`~? AKwA&"AAwNA"AZAbAjArAzAAA20:@A R[FsA'u@AL<A=Š=Ab?A ZAs?AB*A&:?2ACֽ:A/<BA&:?JACֽRA/ Yl5_~?y4sKA)?Fb77z9)VB[[Z?[զ_~?[0[[[[BZYY i!) IG?iJ^ H@))H@H@5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041413.603165 s, next control iter: 1743041413.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14912, header.stamp.nsec: 00 temperature: 13.563880* salinity: 33.375629, density: 1025.000000* values[0]: 0.580888F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041413.983165 s._8K~,~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076724< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743041413.983278F (some fields omitted in printout)J"J*J2J:JBJnJvJA\( @A=| @AA`~? A;oA\&"AAwNA"AZAbAjArAzAAAQ :@AaAsAt@AZ<A=A?A ŚA(j?A?-*A:?2Aƒֽ:A+<BA:?JAƒֽRA+<٘i)I9t@YG JJJJJNF&K Y}/_~?y@,KAF|9)[BE[[?[_~?['[[[[BZYY i) ޻IއG?i簿pb b@))b@b@ἪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041414.023165 s, next control iter: 1743041414.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743041414.403165 s.&f8K~,͙,AAQ^ @A0duQ @A?`~? A/gA&"AAwNA"AZAbAjArAzAAA:P:@A@=sA&t@A?<Al=AG?A_iA]?A>*AT:?2A:ֽ:A=BAT:?JA:ֽRA=٘i)I9&t@YG J,JJJJPF&K Y)_~?y#JAF77y~9)_B[[?[۝_~?[n[[[[BZYY i) PItG?i;Rke \ @))\ @\ @+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041414.423165 s, next control iter: 1743041414.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14913", header.stamp.nsec: 0"0 temperature: 13.564127"* salinity: 33.375595", density: 1025.000000"* values[0]: 0.580260"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041414.823165 s.l8K~,2,AJ"J*J2J:JBJnJvJAGz @Awo @A<`~? A'_A&"AAIwNA"AZAbAjArAzAAA&:@A+8sAGs@A=};Aۇ=AD?A=AN?AD*A9?2A׽:Aΐ=BA9?JA׽RAΐ=I٘i)I9s@YOG JJJJJQF&K Y#_~?y[JAF77j7D9)cB[[o?[6_~?[[[[[BZYY i)  I1aG?iL g !@))!@!@ybYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041414.843165 s, next control iter: 1743041415.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041415.243165 s.s8K~,u,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076724< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743041415.243308F (some fields omitted in printout)Aףp= @A"4 @Af8`~? A%WA3 &"AA?wNA"AZAbAjArAzAAApd:@A/73sA8s@A ĻA͈=A?AA@O=?AaD*A9?2AS׽:A-=BA9?JAS׽RA-=٘i)I98s@YG JJJJJRF&K Y_~?ykIAF779)fB[[?[Б_~?[[ [[[[BZYY i) |IMG?ipRg  y#@)) y#@ y#@QYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041415.263165 s, next control iter: 1743041415.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041415.663165 s.z8K~,q,AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14914, header.stamp.nsec: 00 temperature: 13.564369* salinity: 33.375599, density: 1025.000000* values[0]: 0.579693F (some fields omitted in printout)A!@Aw. @AB4`~? A)OA &"AAgwNA"AZAbAjArAzAAA:y:@A$ uX.sAIr@AċOA=ARQ?A俿A`)?AĚ*A9?2As׽:A=BA9?JAs׽RA=Y(?/5?yE=PٓHAӿmݠ^?ӿ?%P K?)(? I٘i)I9r@YG JJj/JJJTF&Kx> Y_~?y IA5?F77j7ك9B)iBE[[O@?[_~?[[[[[BZYY i) ,I9G?i?k %@))%@%@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041415.683165 s, next control iter: 1743041416.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041416.083165 s.D8K~,"S,AA)\5!@A'(!@A/`~? A5GA\k &"AAÙwNA"AZAbAjArAzAAAÌR:@Az})sAUr@AOA =A?AA?A[<*A9?2A/T׽:AQ=BA9?JA/T׽RAQ=٘i)I9Ur@Y}G JFJJJJUF&K Y@ _~?yDIAF779B)nBE[[i?[Ƃ_~?[[[[[BZYY i) {w!@A$`~? Af7AȠ &"AAwNA"AZAbAjArAzAAAh.TOq:@A0sAdq@A};Asl=Ai?A SſA?A*A 9?2Aֽ:Al =BA 9?JAֽRAl =٘i)I9dq@YG J璼JJJJXF&K Y^~?yHAF)7ŧ799)vB[[?[p_~?[[[[[BZYY i) r[IaF?iz@q )@)))@)@kɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041416.943165 s, next control iter: 1743041417.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041417.343165 s.<8K~,U,AJ"J*J2J:JBJnJvJAp= !@A!@A~`~? A/Aw: &"AA!wNA"AZAbAjArAzAAAfN%{^:@Atm sAp@A?<AȔ=A$?A P`ǿA?Ab*A<9?2Ahoֽ:A =BA<9?JAhoֽRA =٘i)I9p@YG JĚJJJJYF&K Y^~?y-HAF779B)yBE[[V?[f_~?[ۨ[[[[BZYY i) jI3F?iûVp !@+@))!@+@!@+@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041417.363165 s, next control iter: 1743041417.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14916&, header.stamp.nsec: 0&0 temperature: 13.385653&* salinity: 33.391609&, density: 1025.000000&* values[0]: 0.700680&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041417.763165 s.:8K~,,p,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076724< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743041417.763289F (some fields omitted in printout)A "@AҨ!@A`~? A'Aa &"AA_wwNA"AZAbAjArAzAAA5J:@AnHsA[p@A[<A`=A?A6ɿA>?A>*A9?2Axֽ:Au=BA9?JAxֽRAu=Y0?/=?y绖=fL\<ٓH@ٿ@Ikʑ@2?!ٿp?`"Ӳ@v?@?)0? I٘i)I9[p@YJG JJf<JJJ[F&K0x> Y^~?yzGA=?F777Ό9B)B E[[?[[_~?[qҨ[[[[BZYY i) zIF?iZes ,@)),@,@^ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041417.783165 s, next control iter: 1743041418.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041418.183165 s.J ˢ8K~"J*J,o,A2J:J;3?BJ;3?nJ;5vJA(\B"@A5"@A`~? AAvk &"AAlwNA"AZAbAjArAzAAAu e14:@A5YUsAo@A S<Ad=Ab@A`B˿A~?A'ˣ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9o@YG JJJJJ\F&K YO^~?ylبcGAF779)B[[RC?[ P_~?[^ɨ[[[[BZYY i) mIF?i⿿Ku \.@))\.@\.@ѪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743041418.203165 s, next control iter: 1743041418.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041418.603165 s.748K~,,AAQx"@ADmFk"@A`~? ACA&"AAawNA"AZAbAjArAzAAALδ:@A sA.Io@A|KºA1=A@A̿AY?A *A9?2Ao׽:A{w =BA9?JAo׽RA{w =٘i)I9Io@YG JJJJJ]F&K Y^~?y^ШFAFb77d9B)BE[[p?[C_~?[`[[[[BZYY ih) 6ImF?iY4v /@))/@/@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041418.623165 s, next control iter: 1743041419.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14917 , header.stamp.nsec: 0 0 temperature: 13.385900 * salinity: 33.391632 , density: 1025.000000 * values[0]: 0.699558 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041419.023165 s.Z8K~,{,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085982< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743041419.023304F (some fields omitted in printout)AHz"@A "@A`~? AAט&"AApUwNA"AZAbAjArAzAAAN:@A^(sAZn@A%'Ah=AL@AؽοA 1?Am*AA9?2AV׽:A =BAA9?JAV׽RA =٘i)I9n@YOG JݢJJJJ_F&K Y^~?yOȨFAF777/9B)BE[[ @[6_~?[{[[[[BZYY i) ˓IΖF?i pu P1@))P1@P1@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041419.043165 s, next control iter: 1743041419.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041419.443165 s.9ö8K~,F],AAq= "@A"@A_~? AA.&"AAHwNA"AZAbAjArAzAAA )9@A_M sA8n@A^AVg=Ag@AFпA`?A|*A49?2AsU׽:A =BA49?JAsU׽RA =٘i)I98n@YG J6JJJJ`F&K Y^~?yA3FAF)7b79)B[[-e@[(_~?[[[[[BZYY i) `I^F?iNs v3@))v3@v3@`تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041419.463165 s, next control iter: 1743041419.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14918, header.stamp.nsec: 00 temperature: 13.386151* salinity: 33.391651, density: 1025.000000* values[0]: 0.698433F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041419.863165 s.+8K~,>,AJ"J*J2J:JBJnJvJA#@A8 #@A_~? ApA&"AA:wNA"AZAbAjArAzAAA*$G9@A;rA*m@A Y)^~?yEA@F7{7ĕ9B)BE[[&@[r_~?[ [[[[BZYY i) hբImF?ithu .4@)).4@.4@yܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041419.883165 s, next control iter: 1743041420.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041420.283165 s.?R8K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085982< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743041420.283301F (some fields omitted in printout)A(\O#@AQB#@A_~? AAT&"AA,wNA"AZAbAjArAzAAA,9@AchTrAm@A,RA#=Ab@A ҿAP?A[*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9m@YQG JJJJJcF&K Y3^~?y\EAFb779)B[[@[M _~?[y[[[[BZYY i) JIYF?iM%v 16@))16@16@8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041420.303165 s, next control iter: 1743041420.683183 s, wait time: 0.380018 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 149192, header.stamp.nsec: 020 temperature: 13.3864362* salinity: 33.3916592, density: 1025.0000002* values[0]: 0.6972812F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041420.703165 s.պ8K~, -,AJ"J*J2J:JBJnJvJAQ#@ATx#@A_~? AA&"AAwNA"AZAbAjArAzAAA,)W9@A^rAal@AN <Aw=AZ2@AbҿA`}?A䷼*A9?2AWֽ:A=BA9?JAWֽRA=٘i)I9l@YG J B=JJJJdF&K Y=^~?yNDAF7Y9B)BE[[\(@[{^~?[[[[[BZYY i) IrDF?iп=u 7@))7@7@:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041420.723165 s, next control iter: 1743041421.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041421.123165 s.88K~,aG,AAG#@AϤMխ#@A_~? A(A"w&"AA wNA"AZAbAjArAzAAAp9@A#MrA?k@A]<A#=A_y @A@ӿAJ?AF*AT9?2A=ֽ:A`=BAT9?JA=ֽRA`=٘i)I9k@YG J+C=JJJJeF&K YI^~?yDAFSI787$9)B[[*@[^~?[[[[[BZYY i) 3I0F?iDՊs V9@))V9@V9@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041421.143165 s, next control iter: 1743041421.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041421.543165 s.I8K~,b,AJ"J*J2J:JX2?BJX2?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085982< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743041421.543284F (some fields omitted in printout)A= ף#@A#@A_~? AA@&"AA&vNA"AZAbAjArAzAAAd9N9@A„rAIk@AZN:<Af =A+ @A`ԿAa?A?¼*A%9?2Amֽ:A!=BA%9?JAmֽRA!=٘i)I9Ik@Y3G JJJJJgF&K YSs^~?yDAFb7ŧ79)B[[NS @[^~?[[[[[BZYY i) BIF?i3p :@)):@:@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041421.563165 s, next control iter: 1743041421.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14920, header.stamp.nsec: 00 temperature: 13.386694* salinity: 33.391674, density: 1025.000000* values[0]: 0.696041F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041421.963165 s.v8K~,},AAffff&$@ABA)Z$@A _~? AܩA&"AAvNA"AZAbAjArAzAAA *9@ArrAj@AT;AJ-=AL# @A`I|տA?ACgü*AR9?2Aֽ:A$=BAR9?JAֽRA$=YUC?' @y-=}U;ٓH `?2@? j??)UC? I٘i)I9j@YG J üJ[x<JJJhF&KTx> Yb^~?yؒCA' @F77779 B)BE[[ @[7^~?[|[[[[BZYY i) 6ǼIF?iZq ly<@))ly<@ly<@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041422.003165 s, next control iter: 1743041422.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041422.383165 s.8K~,],AJ"J*J2J:J2?BJ2?nJ:5vJA(\$@AHO$@A_~? AթA< &"AAvNA"AZAbAjArAzAAAyC9@A.FrABj@A/ֻARF=A~ @AWֿA '?Aü*Aͥ9?2A`"׽:A!=BAͥ9?JA`"׽RA!=٘i)I9j@YkG JüJJJJiF&K YR^~?y1CAF79)BE[[ ~ @[ٵ^~?[t[[[[BZYY i) 7ϼI\E?ip A >@))A >@A >@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041422.403165 s, next control iter: 1743041422.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14921", header.stamp.nsec: 0"0 temperature: 13.386998"* salinity: 33.391693", density: 1025.000000"* values[0]: 0.694727"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041422.803165 s.}A8K~,g,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085982< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743041422.803304F (some fields omitted in printout)A$@Aބ$@AQ_~? ArΩA&"AA*vNA"AZAbAjArAzAAAG 0%8@AzS elevatorAngleAction: 0.082790< massPositionAction: 0.000000nJ4 buoyancyAction: 0.000500vJ dt: 0.4200112 time: 1743041424.063310F (some fields omitted in printout)A33333%@ANw(&%@Aw_~? AùAA&"AAيvNA"AZAbAjArAzAAA=d8@A4'rAWSg@AZ;Aζ=A@A ٿA@g?A[ټ*A9?2APֽ:AC=BA9?JAPֽRAC=Ya@@yͶ=m;ٓHt 9 !i`? |H?Ѷ`R+r?N?)a@ I٘i)I9Sg@Y G JռJY7<JJJoF&Kw> Y^~?yoZAA@Fb779B)կBE[[W@[f^~?[V[[[[ZZBZYY i) żIE?iPRf OD@))OD@OD@4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041424.083165 s, next control iter: 1743041424.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041424.483165 s.w_9K~,,AA\h%@A;1[%@Aci_~? A A&"AAguvNA"AZAbAjArAzAAA첳X98@Aȏ rAf@AC<A[=A@AQ`ڿA a?A+*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9f@YN G J2JJJJpF&K Y;]~?yh@AF777y9)ۯB[[n`@[gQ^~?[O[[[[ZZBZYY i)  IuE?i{'e E@))E@E@iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041424.503165 s, next control iter: 1743041424.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14923, header.stamp.nsec: 00 temperature: 13.387625* salinity: 33.391720, density: 1025.000000* values[0]: 0.691978F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041424.903165 s. 9K~,9,AJ"J*J2J:J%1?BJ%1?nJ95vJAQ%@Aլ%@AZ_~? AlAG&"AAM_vNA"AZAbAjArAzAAAEqj 8@A\rAe@AU<AxS=A2@A 'ۿA?AH*A߯9?2A\3ֽ:Aa<BA߯9?JA\3ֽRAa<٘i)I9e@Y G J,JJJJqF&K Y]~?y`bd@AFb77D9B)BE[[@[;^~?[H[[[[ZZBZYY i) Iv~E?i )b  pG@)) pG@ pG@y=ԪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743041424.923165 s, next control iter: 1743041425.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041425.323165 s.w9K~,)T,AvPublished 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: 0.4199642 time: 1743041425.323282F (some fields omitted in printout)AGz%@ALn%@AQK_~? A奩Av&"AAHvNA"AZAbAjArAzAAAJM.7@ArArd@A@8;Au=A@AۿAf?A"*A9?2Adֽ:Atq<BA9?JAdֽRAtq<٘i)I9d@Y@ G J4JJJJsF&K Y]~?y[?A F{7{79)B[[@[}%^~?[A[[[[ZZBZYY i) 唡IkE?iMI] I@))I@I@YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041425.363165 s, next control iter: 1743041425.723177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14924*, header.stamp.nsec: 0*0 temperature: 13.388043** salinity: 33.391716*, density: 1025.000000** values[0]: 0.690233*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041425.743165 s.W9K~,uo,AJ"J*J2J:JBJnJvJAףp= &@A[\3%@A;_~? AvAG&"AA$1vNA"AZAbAjArAzAAA=s7@Ag&rA d@A EAK1=A@A ܿA?A μ*A09?2A}ֽ:A{;BA09?JA}ֽRA{;٘i)I9 d@Y G JB=JJJJtF&K Yc]~?y)Uo?A Fb77ڮ9B)BE[[@[^~?[n;[[[[ZZBZYY i) MIYE?iި'X G))G+J@ yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041425.783165 s, next control iter: 1743041426.143177 s, wait time: 0.360012 sc]~?))U rAdjusting time to match Gazebo time: 1743041426.163165 s.v}"9K~,q,AA@&@Au:2&@A+_~? A!A&"AAvNA"AZAbAjArAzAAAWL}7@A73 Y]~?y(OK?A%@ Fŧ7b79B)BE[[Ӥ@[]~?[ 5[[[[ZZBZYY i=) 0IGE?iV E))E L@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041426.183165 s, next control iter: 1743041426.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041426.583165 s.(9K~,S,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069288< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743041426.583297F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u&@A.Th&@A_~? A撩A>&"AAgvNA"AZAbAjArAzAAAhK7@A nrAb@AqA<Avv@A0޿A @?Agx*A29?2A_ֽ:A BA29?JA_ֽRA ٘i)I9b@Y G J%JJJJwF&K Y]~?y&I'?A Fj7j7o9)B[[6@[]~?[.[[[[ZZBZYY i=) ܀I5E?iS  pD)) pDM@ymYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041426.623165 s, next control iter: 1743041426.983179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14925, header.stamp.nsec: 00 temperature: 13.388357* salinity: 33.391731, density: 1025.000000* values[0]: 0.688776F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041427.003165 s.z 09K~,U4,AAR&@Ay&@A _~? AŌAa&"AAuNA"AZAbAjArAzAAAz7@At rAb@A&A(A@A@޿A ?Aw &*A9?2A'kֽ:A|BA9?JA'kֽRA|٘i)I9b@Y G J4UJJJJxF&K Y/]~?y%C?AF777:9B)BE[[@[]~?[([[[[ZZBZYY i) mId$E?iDO WB))WB^?O@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041427.023165 s, next control iter: 1743041427.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041427.423165 s.u69K~,,AJ"J*J2J:J40?BJ40?nJ85vJA{G&@AAF779)B[[=T @[C]~?[#[[[[ZZBZYY i) JkXIgE?i^4J PA))PAP@y=z)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041427.443165 s, next control iter: 1743041427.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14926, header.stamp.nsec: 00 temperature: 13.388565* salinity: 33.391769, density: 1025.000000* values[0]: 0.687958F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041427.843165 s.<9K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.078067< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743041427.843301F (some fields omitted in printout)Ap= '@A '@A^~? A؀A&"AAuNA"AZAbAjArAzAAApW;6@AxˎYirA@b@A<AuAb@A e,A`,?AG3*A9?2Aֽ:AǼBA9?JAֽRAǼ٘i)I9@b@Y G J.JJJJ{F&K Y\]~?y!7>AF7Ϸ9B) BE[[W!@[x]~?[~[[[[BZYY i) CIE?iaC ?))?]R@.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041427.883165 s, next control iter: 1743041428.243181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743041428.263165 s.D9K~,,AJ"J*J2J:JBJnJvJAL'@A?'@A^~? A {A&"AAuNA"AZAbAjArAzAAAUw6@A߬rAC?b@AF`<Ag1A@AA?A* ;*AN9?2Aֽ:AMBAN9?JAֽRAMY@ש@yb1|`<ٓHD? D? i8 *???)@ I٘i)I9?b@Y G J<J=)JJJ|F&K/x> Y#F]~?y1>A@Fj7j79B) B߹E[[n#@[&}]~?[[[[[BZYY ij=) 2ID?i@ 5>))5>S@ n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041428.283165 s, next control iter: 1743041428.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 149272, header.stamp.nsec: 020 temperature: 13.3886502* salinity: 33.3917472, density: 1025.0000002* values[0]: 0.6876692F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041428.683165 s.lJ9K~,R+,AA(\'@Anu'@A{^~? A^uA&"AA{uNA"AZAbAjArAzAAA1zuL?6@AIqhrAZb@A-^2<AGYA @AAS?A;*A9?2A@ֽ:ABA9?JA@ֽRA٘i)I9Zb@Y G J˂;JJJJ}F&K Y/]~?y,2?AFZ7SI7d9 B) B۹E[[$@[}c]~?[[[[[BZYY i*I=) "ID?i< C<))C<rvU@ʒ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041428.683165 s, next control iter: 1743041429.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743041429.103165 s.Q9K~,F,AJ"J*J2J:J 0?BJ 0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066546< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743041429.103302F (some fields omitted in printout)AQ'@AG'@A^~? AoA&"AA_uNA"AZAbAjArAzAAAN\I'6@A7rAb@AT;AyyAC"@A -A`?A5<*A9?2A_eֽ:ABA9?JA_eֽRA٘i)I9b@Y G J8 <JJJJF&K Y]~?y/'n?AF77/9) B[[{&@[I]~?[ [[[[BZYY i) EID?i7  ;)) ;W@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041429.123165 s, next control iter: 1743041429.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041429.523165 s.W9K~,{a,AAHz'@Ae'@An^~? A]jA^&"AABuNA"AZAbAjArAzAAA\E5@Ay`rA.b@AaA0߈A#@A@C~A`xF?Amn<*A9?2A;ֽ:A]aBA9?JA;ֽRA]a٘i)I9b@Y G JP<JJJJF&K Yl]~?y!?AF77779!B) BعE[[b(@[\/]~?[( [[[[BZYY i) gqID?if'1 R9))R9cX@yNJ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041429.543165 s, next control iter: 1743041429.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14928, header.stamp.nsec: 00 temperature: 13.388626* salinity: 33.391743, density: 1025.000000* values[0]: 0.687880F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041429.943165 s.[d^9K~,O]|,AJ"J*J2J:J0?BJ0?nJ85vJAq= #(@Ax(@A^~? A eA&"AAf%uNA"AZAbAjArAzAAA߂5@AZ 4fqrAZc@AaAA$@A A ?A!<*A9?2A%ս:AmBA9?JA%սRAm٘i)I9Zc@Y^ G J@<JJJJF&K Y\~?y?AF779#B)BչE[[ڔ)@[]~?[[[[[BZYY i) 7߻IfD?iFsO) 8))8$Z@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041429.963165 s, next control iter: 1743041430.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041430.363165 s.e9K~,>,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066546< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743041430.363290F (some fields omitted in printout)AY(@AcL(@At^~? A_A.&"AAuNA"AZAbAjArAzAAA xVT5@AMnErAIc@A$MA˗At&@AA?A`<*Av9?2A!ֽ:AB<BAv9?JA!ֽRAB<Y#@)&@yxȗINٓHH%?H?mW@-? ?)#@ I٘i)I9c@Y G J<J6JJJF&Kw> Y\~?yK@A)&@Fb779)B[[+@['\~?[E[[[[BZYY i) {IzD?ix8% ~6))~63[@^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041430.383165 s, next control iter: 1743041430.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14929&, header.stamp.nsec: 0&0 temperature: 13.388471&* salinity: 33.391750&, density: 1025.000000&* values[0]: 0.688602&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041430.783165 s.J "J *J 2J :J H0?BJ H0?nJ 85\k9K~vJ,,AA(\(@A@P(@A`^~? AZA&"AA%tNA"AZAbAjArAzAAAT5@A,rA`d@A흻A୛Aq'@A(jA`S?Av<*A9?2A-ֽ:ATBA9?JA-ֽRATI٘i)I9`d@Y G J<JJJJF&K Y\~?yl@AFj7Z7Z9%B)BҹE[[D,@[\~?["[[[[BZYY i) 6ID?iL{} 4))4.)]@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041430.803165 s, next control iter: 1743041431.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041431.203165 s.s9K~,*,AAQ(@A!(@A0L^~? AUA&"AA@tNA"AZAbAjArAzAAAl4@ATv(rA:d@Aܱ;A읽A2(@A AR?Aͱ<*A9?2Aֽ:A+BA9?JAֽRA+٘i)I9d@YT G J<JJJJF&K Ym\~?yAAF777$9'B)BιE[['.@[\~?[8[[[[BZYY i) gID?iqP n3))n3^@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041431.223165 s, next control iter: 1743041431.603182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743041431.623165 s.Vy9K~,X,AJ"J*J2J:J0?BJ0?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066546< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743041431.623298F (some fields omitted in printout)AG(@A (@AM7^~? AQA%T&"AA۪tNA"AZAbAjArAzAAANj&eP4@A\9rA$}e@AQ<AA#*@AAI?Ax<*A9?2A׽:A BA9?JA׽RA ٘i)I9}e@Y G JS<JJJJF&K YI\~?yJ }AAF{7j79)B)B˹E[[)/@[\~?[[[[[BZYY i) EELID?ieG( M1))M1h7`@~*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743041431.643165 s, next control iter: 1743041432.023177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14930, header.stamp.nsec: 00 temperature: 13.388279* salinity: 33.391750, density: 1025.000000* values[0]: 0.689557F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041432.043165 s.9K~,,AA= ף0)@A($#)@A"^~? AYLAڰ&"AAtNA"AZAbAjArAzAAAcY4@A&^rAgf@A*\<AvAIq+@AFA S?Aq<*A9?2A׽:Ah: BA9?JA׽RAh: ٘i)I9f@Y G J<JJJJF&K Y$s\~?yAAFb779)B[[)1@[\~?[[[[[BZYY i) IuD?i?XEf b0))b0a@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041432.063165 s, next control iter: 1743041432.443181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743041432.463165 s._9K~, ,AJ"J*J2J:JBJnJvJAfffff)@AZ[Y)@A ^~? AGA &"AAjtNA"AZAbAjArAzAAAXΕ4@A7D'rAf@A;A=Ae,@AeA^?A>γ<*Af9?2Aֽ:A|BAf9?JAֽRA|Y[@~,@y<;ٓH a`Enۿ?@a?.h³?@|?[?)[@ I٘i)I9f@Y_ G J<JJJJF&K,x> YY\~?yMBA,@ FZ7SI79*B)BȹE[[2@[@q\~?[[[[[BZYY i) 0IjD?i elevatorAngleAction: 0.066546< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743041432.883283F (some fields omitted in printout)A()@A|)@A]~? AgCAkb&"AAItNA"AZAbAjArAzAAA:3@AgrA6=g@AIAA -@A@tA0?ACg<*AW9?2Aaֽ:A BAW9?JAaֽRA ٘i)I9=g@Y G J<JJJJF&K Y&@\~?y+BA!F777O9,B)BŹE[[7,4@[HU\~?[[[[[BZYY i) %I_D?i7H=# [-))[-d@*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743041432.903165 s, next control iter: 1743041433.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041433.303165 s.[9K~,gS,AJ"J*J2J:J0?BJ0?nJ95vJA)@Aq!)@A]~? A"?A=&"AA(tNA"AZAbAjArAzAAAT4(͒3@AMrAg@Ay=AaA":/@A A`d?A0<*AC9?2A-ֽ:ABAC9?JA-ֽRA٘i)I9g@Y G J8<JJJJF&K Y&\~?yd!CA"F779-B)B¹E[[5@[;9\~?[[[[[BZYY i) Sb:IUD?i2=y, +))+Ff@x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041433.323165 s, next control iter: 1743041433.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14932., header.stamp.nsec: 0.0 temperature: 13.387867.* salinity: 33.391758., density: 1025.000000.* values[0]: 0.691636.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041433.723165 s.9K~,Hn,AAz*@A0)@A]]~? A;A] &"AAtNA"AZAbAjArAzAAAlO3@AȅrAYrh@AJcAA0@A@LA`?A͵<*A 9?2A:ֽ:Ah'BA 9?JA:ֽRAh'٘i)I9rh@Yx G J<JJJJF&K Y$ \~?yCA$Fŧ7b79/B)BE[[k&7@[*\~?[<[[[[BZYY i) k:IVLD?i40" V*))V*g@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041433.743165 s, next control iter: 1743041434.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041434.143165 s.V/9K~,*,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066546< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743041434.143317F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=*@AHjd0*@A]~? A7AX&"AAsNA"AZAbAjArAzAAAo7@s 3@AMYrAi@A_A|A1@AAt?A%/<*A9?2A`ֽ:AABA9?JA`ֽRAA٘i)I9i@Y G JL<JJJJF&K Y[~?yCA%FS779)B[[#8@[$\~?[[[[[BZYY i) +;ICD?iD!lλ ())(Hi@u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041434.163165 s, next control iter: 1743041434.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041434.563165 s.9K~,[ ,AA3333s*@A=|(f*@Aݜ]~? A,3AT&"AAosNA"AZAbAjArAzAAAs2@A*rAi@A]F:AA423@A`1A?Ae<*A9?2Awֽ:ABA9?JAwֽRAY/+%@R13@y򄑽.jG:ٓH aqտ`g0?]d?@&`,?+H?S?)/+%@ I٘i)I9i@Y,G Jq<J=r<JJJF&K*x> Y [~?yWDA13@&Fj7j7z91B)BE[[:@[[~?[[[[[BZYY i) X;Ir;D?iYû W'))W' j@e*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743041434.583165 s, next control iter: 1743041434.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14933, header.stamp.nsec: 00 temperature: 13.387632* salinity: 33.391754, density: 1025.000000* values[0]: 0.692712F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041434.983165 s.9K~,,AJ"J*J2J:JU1?BJU1?nJ95vJA\*@A^9*@A]~? Az/A&"AAsNA"AZAbAjArAzAAAMRf~2@Ap~rA!j@A# %<AA{4@A %A ?A <*AJ9?2A׽:AxBAJ9?JA׽RAx٘i)I9!j@YG J<JJJJF&K Yn[~?yDA(F777E93B)BE[[ ;@[B[~?[ާ[[[[BZYY i) !;I3D?iԿ %))%Fl@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041435.003165 s, next control iter: 1743041435.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041435.403165 s.&9K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066546< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743041435.403282F (some fields omitted in printout)AQ*@A-*@A\n]~? A+A5 &"AAZ|sNA"AZAbAjArAzAAAx82@AE|rAj@A(1g<A֌A`5@A{3A@q,?Aj<*A|9?2A'׽:AvBA|9?JA'׽RAv٘i)I9j@YG JH<JJJJF&K Yӣ[~?yEA)F)7b794B)߯BE[[ =@[ث[~?[ܧ[[[[BZYY i) ;I,D?iy% A[$))A[$tm@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041435.443165 s, next control iter: 1743041435.803177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14934", header.stamp.nsec: 0"0 temperature: 13.387432"* salinity: 33.391754", density: 1025.000000"* values[0]: 0.693676"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041435.823165 s.9K~,6,AJ"J*J2J:JBJnJvJAGz+@A;p+@AV]~? A(Ay &"AAXsNA"AZAbAjArAzAAA|vA1@AсzrA"k@AV 0<A'A%7@A gA`N?AL<*AT9?2Aֽ:A,BAT9?JAֽRA,٘i)I9"k@YG J<JJJJF&K Y5[~?y |EA*F7795B)ܯBE[[>@[[~?[?ۧ[[[[BZYY iښ=) 5;I}&D?i辉 "))"Ao@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743041435.843165 s, next control iter: 1743041436.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041436.243165 s.9K~,,AAףp=J+@AQ/4=+@A>]~? AG%A &"AA4sNA"AZAbAjArAzAAAL1@A8xrAk@Ap:AAi8@AAp?A<*A9?2A8ֽ:AlBA9?JA8ֽRAl٘i)I9k@YhG J4<JJJJF&K Yn[~?yEA,F)7ŧ797B)گBE[[?@[Is[~?[٧[[[[BZYY i)  ;I!D?iȾӄ c!))c!p@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041436.263165 s, next control iter: 1743041436.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041436.663165 s.9K~,q*,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075613< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743041436.663285F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14935, header.stamp.nsec: 00 temperature: 13.387264* salinity: 33.391747, density: 1025.000000* values[0]: 0.694567F (some fields omitted in printout)A+@AVJr+@A&]~? A-"A &"AAsNA"AZAbAjArAzAAAt_1@AfmvrAl@AAWЈA9@A &AD?Ar<*A]9?2A<_ֽ:A%BA]9?JA<_ֽRA%Y+@9@y,ψ{ٓH@`G|ο?@Y?@` ?Rt?)+@ I٘i)I9l@YG Jߕ<J%<JJbFJF&K)x> Y(S[~?y:FA9@-Fb77o9)֯B[[eiA@[V[~?[ا[[[[BZYY i) ; elevatorAngleAction: 0.075613< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743041437.923282F (some fields omitted in printout)A{G!,@AN;,@A\~? AAϡ!&"AArNA"AZAbAjArAzAAA|;_v0@A~qrA|m@AP:A.A=@ADA`?A><*A9?2Arֽ:ABA9?JArֽRA٘i)I9m@YG J<C=JJJJF&K Y[~?yۧNGA1Fj79;B)ίBE[[E@[[~?[o֧[[[[BZYY i) 1@AjA`P?A‹<*A9?2A׽:A<|BA9?JA׽RA<|٘i)I9n@YG J;<JJJJF&K YeZ~?y٧GA2F77779<B=J9JJJF&K>x> YiZ~?yhا HA9@@4F{7e9=B)ɯBE[[ H@[yZ~?[է[[[[BZYY i) P elevatorAngleAction: 0.075613< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743041439.183280F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\,@An,@A\~? AA /"&"AA:1rNA"AZAbAjArAzAAAJ:=/@A@mrA'n@AYV<ABAA@AhA^7?AqƎ<*A9?2A׽:AuBA9?JA׽RAu٘i)I9n@YnG J<C=JJJJF&K YqZ~?y2קhHA5Fŧ7b7/9>B)ƯBE[[$J@[bZ~?[է[[[[BZYY i) E_))>}@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041440.063165 s, next control iter: 1743041440.423181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743041440.443165 s.9:K~,F],AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084560< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200562 time: 1743041440.443341F (some fields omitted in printout)Aq= c-@AUJV-@AF\~? AC At"&"AAlqNA"AZAbAjArAzAAAgl*q-@A\irA}sp@ADAIA_E@A5Ak?Ak<*Au9?2A3ֽ:ABAu9?JA3ֽRA٘i)I9sp@YXG J;<B=JJJJF&K YYZ~?yӧIA9F779>B)BE[[5N@[pZZ~?[-ק[[[[BZYY i) Nn: 7))7~P@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041440.483165 s, next control iter: 1743041440.843179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14939", header.stamp.nsec: 0"0 temperature: 13.386604"* salinity: 33.391747", density: 1025.000000"* values[0]: 0.698060"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041440.863165 s.+ :K~,>7,AJ"J*J2J:JBJnJvJA-@AHڍ-@Av-\~? A A"&"AAΗqNA"AZAbAjArAzAAAMP,@A`vhrAp@AbA)뙽AݪF@AAa?A<*A9?2AZ=ֽ:AZBA9?JAZ=ֽRAZY˵8@F@yc白>cٓHyO&?@쐢?{ J8?@S?)˵8@ I٘i)I9p@YG J<C=JfJJJF&K x> YJ=Z~?y=ӧIAF@:Fŧ7b7Z9)BE[[ϜO@[>Z~?[ק[[[[BZYY i) e: {`)){`_@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041440.903165 s, next control iter: 1743041441.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041441.283165 s.7; ))@O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041441.303165 s, next control iter: 1743041441.683182 s, wait time: 0.380017 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 149402, header.stamp.nsec: 020 temperature: 13.3864162* salinity: 33.3917272, density: 1025.0000002* values[0]: 0.6990482F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041441.703165 s.׺:K~,m,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084560< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199392 time: 1743041441.703267F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ.@A ~-@A[~? A( A"&"AA#JqNA"AZAbAjArAzAAAN+@A^\grAar@Aד:AզA3HA=A?ATЧ<*A9?2Aֽ:ADBA9?JAֽRAD٘i)I9r@YVG Jc<B=JJJJF&K YZ~?yҧJA=F779@B)BE[[dR@[\Z~?[ڧ[[[[BZYY i) 篝{<; a))a*́@X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041441.723165 s, next control iter: 1743041442.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041442.123165 s.>!:K~,z,AAG:.@A-.@AT[~? AA #&"AA#qNA"AZAbAjArAzAAA I>+@A&rfrAr@A.*<ASԢAlGA`pLA f1?A<*Aԝ9?2AQ)׽:ABAԝ9?JAQ)׽RA٘i)I9r@YG J<C=JJJJF&K YY~?yGҧ#KA>F9)BE[[S@[Y~?[fۧ[[[[BZYY i) 8{f; A ))A @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041442.163165 s, next control iter: 1743041442.523180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743041442.543165 s.I(:K~,â,AJ"J*J2J:JBJnJvJA= ףp.@Alc.@A{[~? A=A#&"AApNA"AZAbAjArAzAAAe*@A0frA2s@Ahd<A'!AFA`)YA@z]?A<*Ac9?2A)׽:A BAc9?JA)׽RA ٘i)I92s@YG JX<JJJJF&K YmY~?yѧKA@Fŧ779AB)BE[[ U@[Y~?[ܧ[[[[BZYY i) ¬๊;  )) 7@(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041442.563165 s, next control iter: 1743041442.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14941, header.stamp.nsec: 00 temperature: 13.386218* salinity: 33.391743, density: 1025.000000* values[0]: 0.700052F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041442.963165 s.z.:K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084560< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743041442.963291F (some fields omitted in printout)Affff.@A.R\.@A[~? AAZ.#&"AApNA"AZAbAjArAzAAAr)@AWVerAs@A&<AAXADA6cA\#?Aڵ<*AS9?2A0ֽ:AxBAS9?JA0ֽRAxY9?@}DyVĭ&<ٓH"?*?ǫ׏?$?@hÄ?@?)9?@ I٘i)I9s@Y_G JX<JJJJF&Kx> YEY~?yҧKADAFb7P9)B[[V@[~Y~?[ާ[[[[BZYY i) k_; G ))G @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041442.983165 s, next control iter: 1743041443.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041443.383165 s.5:K~,+,AJ"J*J2J:JBJnJvJA(.@A.@A[~? AA:#&"AApNA"AZAbAjArAzAAA&.+)@AJkerAdt@A΀:AA<A2CAjA?A~<*A9?2Axֽ:ABA9?JAxֽRA٘i)I9dt@YG J<JJJJF&K YY~?yӧnLABF779)BE[[nW@[)Y~?[f[[[[BZYY i) l elevatorAngleAction: 0.084560< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743041444.223275F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG/@Aa⏢:/@A^[~? A]AHJ#&"AA^pNA"AZAbAjArAzAAAfM'@A< erAȳu@AbA ^AS AArA?A"<*A9?2A:ֽ:A|GBA9?JA:ֽRA|G٘i)I9u@YG J<JJJJF&K Y[Y~?yBԧQMAEF779)B~E[[OZ@[zjY~?[[[[[BZYY i) PA@uqApAd<*A9?2Aֽ:AjBA9?JAֽRAjYfE@/]>y}cٓH@)oB??`-7ſ/᥆?{H?QUl?)fE@ I٘i)I9w@Y`G J<Jc.JJJF&Kx>  9Y#Y~? 9yK֧:NA]>HFb7E9CB)BxE[[@]@[7Y~?[Z[[[[BZYY i) Ѡ elevatorAngleAction: 0.084560< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743041445.483290F (some fields omitted in printout)A\/@A/@A[~? AA~I#&"AAoNA"AZAbAjArAzAAA+u&@AnR;erA w@Aŋ;APA=A mA@A<*A9?2Aֽ:ADPBA9?JAֽRADP٘i)I9w@YG J<JJJJF&K YY~?yקNAIF79)BuE[[^@[Y~?[[[[[BZYY i) pBZYY i¸>b) a@[X~?[[[[[ZZZZBZYY i)  Z~? AdAU#&"AAKoNA"AZAbAjArAzAAA{KL#@AEefrAz@AE‰AzA57A?A@nA:c=*Ao9?2AXֽ:A&;BAo9?JAXֽRA&;Yz?L@7yz"ٓH `?@9? п4X??@E8q?)z?L@ I٘i)I9z@YG J=J=JJJF&Kx> Y[X~?y|ާPA7NF7)7; 9)nBlE[[)c@[ǽX~?[[[[[ZZZZBZYY i) +5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083197< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743041449.263314F (some fields omitted in printout)A1@A^&ſ1@Ak)Z~? AmA"&"AAnNA"AZAbAjArAzAAAnML8 @AΝ0krAG}@Ac@<AK;A%c1AA`$ſA1 <*AY9?2A ֽ:A<BAY9?JA ֽRAJJJF&K~v> YX~?y  RAa1UFb7709)UB[[bj@[;KX~?[ [[[[ZZZZBZYY iIy) cp@ $YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041449.283165 s, next control iter: 1743041449.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 149482, header.stamp.nsec: 020 temperature: 13.3844152* salinity: 33.3916632, density: 1025.0000002* values[0]: 0.7089402F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041449.683165 s.l:K~,ck,AA(\2@A'1@A'Z~? APA]w"&"AA7cnNA"AZAbAjArAzAAA;) @A WlrA- ~@Aʆk<A=}<A0AA`ƿAb;*A?9?2Aiֽ:A}1<BA?9?JAiֽRA}1<٘i)I9 ~@YG J;JJJJF&K YW~?y:RAWFj7j79)TB]E[[yk@[-5X~?['[[[[ZZZZBZYY i) r]5vJAQ82@A1ZG+2@AY~? A\AQ"&"AA=nNA"AZAbAjArAzAAANq#@AZmrA+~@A9<Aۖ =A.AAȿA!*Av9?2A=9ֽ:A5<BAv9?JA=9ֽRA5<٘i)I9~@YG J`+;JJJJF&K YGW~?ykQAXF779)SB[E[[l@[X~?[L[[[[BZYY i) |J5vJAq= ף2@AOu͖2@A(Y~? AA$!&"AA6mNA"AZAbAjArAzAAA5 _z@A5GbprA}@AbAEZ=Ad",AYAx̿A?`*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9}@YG JJJJJF&K Y{W~?yQA[Fb77[9)TBUE[[Wo@[W~?[[[[[BZYY i) /9%,AA2@A#2@AwY~? AuA!&"AAmNA"AZAbAjArAzAAAӝO@AqxqrA }@A_A?)y=A*A3AsKοA*(*AÌ9?2A)ֽ:AJ=BAÌ9?JA)ֽRAJ=YX;Y@=*yJ#y=5`ٓHs !?`RHݿV}`Zb??)X;Y@ I٘i)I9}@YhG J B=J>JJJF&Kx> YLW~?yQA*\F77{7&9CB)VBRE[[tp@[W~?[f[[[[BZYY iZg) Y=A"'AɳAѿA*A$9?2ATֽ:AH=BA$9?JATֽRAH=٘i)I9{|@YG JGJJJJF&K YCW~?yPA`Fj7j7!9)_BLE[[t@[sW~?[~-[[[[BZYY i4܆) N;IE?i? < ֿ)) ֿTj@y=EhjѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041452.643165 s, next control iter: 1743041453.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14951 , header.stamp.nsec: 0 0 temperature: 13.384617 * salinity: 33.391640 , density: 1025.000000 * values[0]: 0.708418 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041453.043165 s.:K~,B,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065850< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743041453.043308F (some fields omitted in printout)A= ף3@Abg 3@AKY~? A &A( &"AA8mNA"AZAbAjArAzAAA~rYt@AKx3 yrA{@AoW<Aؚ=A&Au}AӿA*Ah:?2A :Aˁ=BAh:?JA RAˁ=٘i)I9{@YVG JB=JJJJF&K Y*W~?y ?PAaFZ7Z7P#92B)RBIE[[u@[W~?[\2[[[[BZYY i) ;IE?iE?}< ̓Կ))Կ\ @yKhתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041453.083165 s, next control iter: 1743041453.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743041453.463165 s.V:K~,],AJ"J*J2J:J=5?BJ=5?nJ >5vJAffff3@A%c\3@A3Y~? Ar)A &"AAmNA"AZAbAjArAzAAA5嶵,@A<{rA=Z{@Ao<<AY}=AB%AcAӿA)H*A+u:?2Aý:A =BA+u:?JAýRA =YY^@<4%yz=`<<ٓH@? Cj?`?)Y^@ I٘i)I9Z{@YG J0C=JE=JJJF&KW> YW~?yOA4%cFŧ7b7%9)WBJE[[ w@[W~?[`7[[[[BZYY i) q;IE?i? < cѿ))cѿ@y,ժYbYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041453.503165 s, next control iter: 1743041453.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14952, header.stamp.nsec: 00 temperature: 13.384859* salinity: 33.391624, density: 1025.000000* values[0]: 0.707464F (some fields omitted in printout).W~?). rAdjusting time to match Gazebo time: 1743041453.883165 s.y:K~,@x,AA(4@Ai4@AY~? A,Am &"AAlNA"AZAbAjArAzAAA;yx@A)}rAz@A;A=A}0$A ?A8ԿA۱*A%:?2Ahtƽ:A =BA%:?JAhtƽRA =٘i)I9z@YG JJJJJF&K YV~?y.nOAdF777&9)\BGE[[Mx@[mmW~?[z<[[[[BZYY i) ;_;IE?if@|< Ͽ))ϿH@SժYeYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041453.903165 s, next control iter: 1743041454.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041454.303165 s.X:K~,g,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065850< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4197942 time: 1743041454.303286F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ4@AJD4@AY~? Af0AU* &"AA*lNA"AZAbAjArAzAAA|[@At(vQrA/z@AHA=A"AA>ԿA*AŃ:?2Arɽ:A =BAŃ:?JArɽRA =٘i)I9/z@YEG JӰJJJJF&K YV~?yOAeF77{7(9)`BDE[[y@[[W~?[A[[[[BZYY i) \#;IpE?ie@< '̿))'̿@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041454.323165 s, next control iter: 1743041454.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14953*, header.stamp.nsec: 0*0 temperature: 13.385125** salinity: 33.391617*, density: 1025.000000** values[0]: 0.706377*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041454.723165 s.:K~,H,AAz4@AqTnz4@AaX~? A4Ae&"AAlNA"AZAbAjArAzAAAju?A@A(rA y@AaCA#v=A!A@AİտA;S*A-:?2AI̽:AL=BA-:?JAI̽RAL=٘i)I9y@YG JDJJJJF&K YV~?yNAgFb77{*91B)dBAE[[z@[JW~?[F[[[[BZYY i) P:IF?i @pa< k0ʿ))k0ʿ@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041454.743165 s, next control iter: 1743041455.123180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041455.143165 s.V/:K~,*,AJ"J*J2J:JBJnJvJA ףp4@Ad4@ARX~? A7Aܛ&"AAlNA"AZAbAjArAzAAA.J%*@Af&8ރrAy@ACFAɖ=A!h AA`wֿAu*AP:?2Afν:A=BAP:?JAfνRA=٘i)I9y@YG JJJJJF&K Y V~?y6#5NAhF77{7F,9)iB[[{@[%9W~?[/L[[[[BZYY i) h7+:I3F?i@{< ǿ))ǿW@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041455.163165 s, next control iter: 1743041455.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041455.563165 s.:K~,[ ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065850< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743041455.563284F (some fields omitted in printout)A33334@AgE(4@AX~? A;AP&"AAblNA"AZAbAjArAzAAAg]@A:DrAjx@AûA=AAzAuA׿A֫*As|:?2Asн:A=BAs|:?JAsнRA=Yd@&y=oûٓHPF?`[p^@K cx4?)d@ I٘i)I9x@Y?G JJJJJF&Kf> YV~?y(MA&iFŧ7b7.9)mB>E[[m5}@[R(W~?[Q[[[[BZYY i) drISF?i@< Lſ))Lſ@ ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041455.583165 s, next control iter: 1743041455.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14954, header.stamp.nsec: 00 temperature: 13.385370* salinity: 33.391602, density: 1025.000000* values[0]: 0.705378F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041455.983165 s.:K~,,AJ"J*J2J:JBJnJvJA\(5@A5@AX~? A?A&"AAT@lNA"AZAbAjArAzAAA^#@A-rAw@AK[;Az֒=AA'@A ؿAoC*ATx:?2Aѽ:A2V=BATx:?JAѽRA2V=٘i)I9w@YG JJJJJF&K Y=V~?y-mMAkF{7j7/9)qB;E[[n~@[W~?[)W[[[[BZYY i) ˝I9sF?im@ D< O¿))O¿Y@9ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041456.003165 s, next control iter: 1743041456.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041456.403165 s.&;K~,,AAQ^5@A=[Q5@AX~? A DAL&"AAHlNA"AZAbAjArAzAAAC>H @ABJI/PrAbw@A 2<A͂=AAAؿAGr*AKt:?2Aӽ:As=BAKt:?JAӽRAs=٘i)I9bw@YG JJJJJF&K YoV~?yM3 MAlF19)vB9E[[@[W~?[\[[[[BZYY i)  I:F?ir@h< n))nV@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041456.423165 s, next control iter: 1743041456.803179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14955, header.stamp.nsec: 00 temperature: 13.385640* salinity: 33.391613, density: 1025.000000* values[0]: 0.704333F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041456.823165 s. ;K~,S4,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065850< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743041456.823331F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz5@A!o5@A|X~? AcHA_&"AAkNA"AZAbAjArAzAAAỦe @A}rAv@AALAoF{7{7;59)~B6E[[J@[V~?[ h[[[[BZYY i) I%F?i"@ 7< W))WE'@LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041457.263165 s, next control iter: 1743041457.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743041457.663165 s.;K~,qj,AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14956, header.stamp.nsec: 00 temperature: 13.385876* salinity: 33.391605, density: 1025.000000* values[0]: 0.703367F (some fields omitted in printout)A6@A#35@AUQX~? AxQA&"AAkNA"AZAbAjArAzAAA X@ArAu@A,A`=AA8A`D8ۿAa[*Ah:?2Aֽ:A<BAh:?JAֽRA Y.V~?yDKApF77790B)B3E[[@[V~?[m[[[[BZYY iܛ) ơIF?i%@< 7))7š@MYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041457.683165 s, next control iter: 1743041458.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041458.083165 s.D!;K~,S,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076105< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743041458.083300F (some fields omitted in printout)A)\56@AQ(6@A.eA 4&"AAN90B)B.E[[r@[V~?[[[[[BZYY i) I}G?i5@Ŝ< ))m#@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041459.363165 s, next control iter: 1743041459.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 14958*, header.stamp.nsec: 0*0 temperature: 13.386312** salinity: 33.391575*, density: 1025.000000** values[0]: 0.701675*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041459.763165 s.6;;K~,,AA 7@ALK6@AW~? AjA&"AAkNA"AZAbAjArAzAAAx_ ?AɢrA5ys@AY<A|Ί=AA3A`l޿AƐ*AD:?2Aֽ:A/=BAD:?JAֽRA/=Yf'r@/yZ͊={<<ٓH%`|C? P8EV]?@?)f'r@ I٘i)I9ys@Y/G JߍB=J:JJJF&K1z> YU~?ycJAwFZ7Z7?9)B*E[[@[ݖV~?[̋[[[[BZYY i) }xI0G?i8@8< O))O뻝@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041459.783165 s, next control iter: 1743041460.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041460.183165 s.B;K~,s ,AJ"J*J2J:JBJnJvJA(\B7@A57@AYW~? AoAf&"AA&kNA"AZAbAjArAzAAA rFX?AejrA:r@AōQ<A=A4AiA@߿A{*A<:?2Aֽ:A3=BA<:?JAֽRA3=٘i)I9r@YG JuC=JJJJF&K YU~?yiIAxF77{7A9)B[[1@[uV~?[[[[[BZYY i) M-IG?i;@T< ))񪿩{S@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041460.203165 s, next control iter: 1743041460.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041460.603165 s.44I;K~,&,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076105< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743041460.603283F (some fields omitted in printout)AQx7@A/Ik7@A9W~? AeuA&"AAjNA"AZAbAjArAzAAAV]G?A6 orAրr@ARB2<AѶ=A_AlA`/A*A5:?2Aֽ:Ams =BA5:?JAֽRAms =٘i)I9r@YG J<B=JJJJF&K YLU~?y^p\IAyF77C9)B(E[[Dȅ@[z~V~?[1[[[[BZYY i) q=I H?i\?@~< o))o?@YĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041460.623165 s, next control iter: 1743041461.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14959 , header.stamp.nsec: 0 0 temperature: 13.386530 * salinity: 33.391560 , density: 1025.000000 * values[0]: 0.700827 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041461.023165 s.ZP;K~,|A,AJ"J*J2J:Ji3?BJi3?nJ <5vJAHz7@A^ 7@AxW~? A{A&"AA%jNA"AZAbAjArAzAAAeU?A+ެrAr@AEV;A幐=A$AA`tA*AS/:?2AA׽:A8 =BAS/:?JAA׽RA8 =٘i)I9r@YKG JC=JJJJF&K YU~?y wHA{F7[E9)B[[]@[rV~?[o[[[[BZYY i) LI6H?iZC@ < ?))?@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041461.043165 s, next control iter: 1743041461.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041461.443165 s.2V;K~,)]\,AAq= 7@A7@AW~? AĀA!&"AAjNA"AZAbAjArAzAAAV5^?Af`rA;q@AŻAߒ=A| A+fA@AX*A):?2A^׽:A=BA):?JA^׽RA=٘i)I9q@YG JJJJJF&K Y}U~?y}HA|F777&G9)B%E[[@[gV~?[[[[[BZYY i) h\IaH?iG@< 죿))죿@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041461.463165 s, next control iter: 1743041461.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14960, header.stamp.nsec: 00 temperature: 13.386740* salinity: 33.391556, density: 1025.000000* values[0]: 0.699969F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041461.863165 s.+];K~,>w,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076105< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743041461.863290F (some fields omitted in printout)J"J*J2J:JBJnJvJA8@A͎ 8@AW~? AAگ&"AAijNA"AZAbAjArAzAAAe?A rAbq@A-FAp*=AX A@ A`4Atʖ*A)#:?2A׽:Ar=BA)#:?JA׽RAr=YUx@@g y'=kGٓH6wJ?$4=`໠]܈?)Ux@ I٘i)I9q@YG JؕJ:E<JJJF&KIy> Y`pU~?y>HAg }F77H9)B[[ֈ@[ ]V~?[[[[[BZYY i) kI,H?iQJ@|= '))'Ѫ@&ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041461.883165 s, next control iter: 1743041462.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041462.283165 s.8Rd;K~,,AA(\O8@AbTB8@A{W~? AAl<&"AAmsjNA"AZAbAjArAzAAA)?ALrALp@AnAA{=A A`߿AA$"*A:?2A׽:A =BA:?JA׽RA =٘i)I9p@YdG JtJJJJF&K YA`U~?y0GAF77J9/B)B"E[[]@[RV~?[[[[[BZYY i) zIUH?iMM@d=  >)) >X@@RЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041462.303165 s, next control iter: 1743041462.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 149612, header.stamp.nsec: 020 temperature: 13.3869572* salinity: 33.3915252, density: 1025.0000002* values[0]: 0.6991192F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041462.703165 s.J "J ܺj;K~*J2J:J2?,*,ABJ2?nJ;5vJAQ8@Axx8@AOjW~? AA&"AA YjNA"AZAbAjArAzAAA" AAOrAp@ADqA=AAg޿AAc*Am:?2A>׽:AKL =BAm:?JA>׽RAKL =I٘i)I9p@YG JJJJJF&K Y#PU~?ykuGAF77L90B)B#E[[ @[HV~?[[[[[BZYY i㯮) $I3H?iP@= W뜿))W뜿ա@IӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041462.723165 s, next control iter: 1743041463.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041463.123165 s.6q;K~,X,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085296< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743041463.123278F (some fields omitted in printout)AG8@A֭8@AYW~? AޘA$O&"AA??jNA"AZAbAjArAzAAA I8˿A |rAwo@AD;Ah=ArA@ݿA$AAb*A:?2Aֽ:A?*=BA:?JAֽRA?*=٘i)I9wo@YG JDJJJJF&K Y@U~?yGAF77QN9)B E[[F@[!?V~?[g[[[[BZYY i) II?ilT@= K))Kh@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041463.143165 s, next control iter: 1743041463.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041463.543165 s.Ix;K~,,AJ"J*J2J:JBJnJvJA= ף8@A×8@AIW~? A(Ak&"AA&jNA"AZAbAjArAzAAA\S*kڿAJ0nrA'n@A8<AH'=A_=A/ݿApA*A :?2Aֽ:A=BA :?JAֽRA=٘i)I9n@YgG JJJJJF&K Y/U~?yࡨFAFŧ7P9/B)BE[[ى@[6V~?[Ĩ[[[[BZYY i) 8IiX@ = 7Q))7Q@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041463.583165 s, next control iter: 1743041463.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14962, header.stamp.nsec: 00 temperature: 13.387194* salinity: 33.391525, density: 1025.000000* values[0]: 0.698150F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041463.963165 s.~;K~,,AAffff&9@Aܠ[9@A&9W~? AAY&"AA jNA"AZAbAjArAzAAAOCA˫rAUn@A)]N<A>=AA@mܿAEA*A:?2Aֽ:A3 =BA:?JAֽRA3 =Y8@y:=?N<ٓH ޿O?騿  ߿)7⳿`xˉ??)8@ I٘i)I9Un@YG JaJ?<JJJF&Kx> Y="U~?yBFAF777Q9)B[[m@[7-V~?[s˨[[[[BZYY i) {IiZ@ = 7))7͏@y]ڪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743041463.983165 s, next control iter: 1743041464.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743041464.383165 s.؅;K~,4,AJ"J*J2J:J2?BJ2?nJG;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085296< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743041464.383295F (some fields omitted in printout)A(\9@AO9@A)W~? A A &"AAiNA"AZAbAjArAzAAA_'Ao9d-rAhm@A;A=AAۿA Aⰼ*A9?2A4ֽ:A=BA9?JA4ֽRA=٘i)I9m@YG JJJJJF&K YU~?yGEAF7S90B)¯BE[[b@[$V~?[ Ҩ[[[[BZYY i)  (Ii]@ = ))]#@ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041464.403165 s, next control iter: 1743041464.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 14963", header.stamp.nsec: 0"0 temperature: 13.387449"* salinity: 33.391510", density: 1025.000000"* values[0]: 0.697161"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041464.803165 s.xA;K~,g3,AA9@AC9@A|W~? AAq\&"AAYiNA"AZAbAjArAzAAAaWAIjrA,m@AQA=AiAA ڿAbJA@*A9?2ATR׽:An =BA9?JATR׽RAn =٘i)I9,m@YYG JJJJJF&K YU~?ylEAF{U9)ƯBE[[A@[V~?[ب[[[[BZYY i) Ii`@= {f)){f<@aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041464.823165 s, next control iter: 1743041465.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041465.223165 s.g;K~,HN,AJ"J*J2J:JX2?BJX2?nJ;5vJAz9@Ae9@A W~? ANA&"AAiNA"AZAbAjArAzAAA$ 8A&lrAl@A`"AS=A{A h ڿAA>y*A9?2Aˉ׽:A=BA9?JAˉ׽RA=٘i)I9l@YG JJJJJF&K Y>T~?yEAF{7{7FW9)˯B[[E&@[MV~?[Hߨ[[[[BZYY i) IiAd@|= k))k@H@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041465.243165 s, next control iter: 1743041465.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041465.643165 s.qЙ;K~,)i,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085296< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743041465.643272F (some fields omitted in printout)A ףp9@A9ah9@AV~? AAW&"AAֱiNA"AZAbAjArAzAAA G5AƨrAEl@A{QA#=AW-A=ٿA"Ap*Ax9?2A׽:Aʲ=BAx9?JA׽RAʲ=٘i)I9l@YG JB=JJJJF&K YT~?yaȨDAF77Y9/B)ϯBE[[{@[,V~?[[[[[BZYY i) Ii!h@= ٌ))ٌv٥@誝tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14964, header.stamp.nsec: 00 temperature: 13.387671* salinity: 33.391491, density: 1025.000000* values[0]: 0.696109F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041465.663165 s, next control iter: 1743041466.043175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743041466.063165 s.;K~, ,AJ"J*J2J:JBJnJvJA33333:@A(&:@AV~? AƩA&"AAiNA"AZAbAjArAzAAA#AW5rAsdk@AEyA h=AAlؿAA*A9?2A:׽:A=BA9?JA:׽RA=Yz߂@ByEf=ٓH ٿ`Jp?Z@}S)ٿo@EO?)z߂@ I٘i)I9dk@YCG JC=Jz<JJJF&Kx> Y~T~?yxШ#DAF{7j7Z91B)կBE[[I@[^V~?[[[[[BZYY i) EIi6j@=  )) k@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041466.083165 s, next control iter: 1743041466.463183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743041466.483165 s.|_;K~,,AA\h:@AV[:@AV~? AͩAK&"AA iNA"AZAbAjArAzAAArkR ANHkrrAj@AAa=A>Aࣛ׿A OAdƼ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9j@YG JpJJJJF&K YjT~?yبCAFZ7SI7\90B)گB[[ۍ@[V~?[Y[[[[BZYY i) %ȼIil@jy= gH))gH@iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041466.523165 s, next control iter: 1743041466.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14965, header.stamp.nsec: 00 temperature: 13.387936* salinity: 33.391476, density: 1025.000000* values[0]: 0.695067F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041466.903165 s.ȭ;K~,͹,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085296< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743041466.903313F (some fields omitted in printout)AQ:@A٭:@AV~? AԩA&"AA)tiNA"AZAbAjArAzAAAה|ArAj@A# <A=AA{ֿA@Aμ*A&9?2Aֽ:A=BA&9?JAֽRA=٘i)I9j@YyG J:ʼJJJJF&K YVT~?y YΫT~?y:AAF)7)7c9.B)BE[[@[kU~?[U[[[[ZZ¸BZYY i¸X=) ѼIi x@= M~))M~?@2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041468.203165 s, next control iter: 1743041468.563178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743041468.583165 s.;K~,R%,AJ"J*J2J:Jy1?BJy1?nJ:5vJA)\u;@AKh;@AۦV~? AAW&"AA+iNA"AZAbAjArAzAAA1[cA/YrALg@AxֻAb=AAWӿAvdAԼ*Aҿ9?2AA׽:A,=BAҿ9?JAA׽RA,=٘i)I9Lg@Y G JռJJJJF&K YmT~?ybAAF{7j7e9)B[[Z@[U~?[$[[[[ZZBZYY i) żIiLz@1 = -y))-yUЩ@FYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041468.603165 s, next control iter: 1743041468.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14967, header.stamp.nsec: 00 temperature: 13.388530* salinity: 33.391468, density: 1025.000000* values[0]: 0.692619F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041469.003165 s.z ;K~,U4@,AAR;@Ap[[x;@A_V~? A'A&"AAniNA"AZAbAjArAzAAA `0AmrAڅf@AIA=ANA`]tҿAA*A9?2AUX׽:Aw<BA9?JAUX׽RAw<٘i)I9f@YL G JJJJJF&K Y T~?y @AF777fg9)B[[>@[U~?[[[[[ZZBZYY i) L칼Ii|@}!= ~u))~u`@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041469.043165 s, next control iter: 1743041469.403182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743041469.423165 s.u;K~,[,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084154< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743041469.423285F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G;@A<;@A`V~? AAr&"AA iNA"AZAbAjArAzAAArAfhrAe@A AAM=AAbѿA@A*Ad9?2A2׽:A+<BAd9?JA2׽RA+<٘i)I9e@Y G JJJJJF&K YT~?yjo@AFb771i9)BE[[H͑@[XU~?["[[[[ZZBZYY i) K㭼Ii@#= q))qC@yS=ЪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743041469.443165 s, next control iter: 1743041469.823183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14968, header.stamp.nsec: 00 temperature: 13.388849* salinity: 33.391476, density: 1025.000000* values[0]: 0.691256F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041469.843165 s.;K~,u,AAp= <@A <@AV~? AA&"AAhNA"AZAbAjArAzAAA\A@LsAd@A򋭻Anq=AU)AпA`VA*A{9?2AVֽ:A Y<BA{9?JAVֽRA Y<٘i)I9d@YI G JJJJJF&K YLT~?y?AFj9-B)BE[[[@[U~?[)[[[[ZZBZYY i) ١Ii@ %= =l))=l}@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041469.863165 s, next control iter: 1743041470.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041470.263165 s.;K~,#ؐ,AJ"J*J2J:JBJnJvJAL<@A^a?<@AV~? AAM&"AAhNA"AZAbAjArAzAAAzd^AحusAd@Ap;Aa,=AjA` ϿA=AMм*A19?2Aֽ:A^;BA19?JAֽRA^;Yf@Vy,=p;ٓHvVɿ`L]?| vV+aɿ7ʤ>n?`?)f@ I٘i)I9d@Y G JAJDJJJF&Kx> YT~?yu#?AFb7l9) B[[@[>U~?[b0[[[[ZZBZYY iU=) VIiF@&= h))h @rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041470.283165 s, next control iter: 1743041470.663179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14969., header.stamp.nsec: 0.0 temperature: 13.389170.* salinity: 33.391453., density: 1025.000000.* values[0]: 0.689817.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041470.683165 s.l;K~,R,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073894< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743041470.683291F (some fields omitted in printout)A(\<@Au<@A\wV~? APAK&"AAhNA"AZAbAjArAzAAAH~E,AE sAyc@A)<AX<A;A|ͿAAA*A`9?2Ayֽ:ABA`9?JAyֽRA٘i)I9yc@Yq G J¼JJJJF&K YT~?y,?AF77n9)B[[2{@[U~?[>7[[[[ZZBZYY i) rOIi5@'= mc))mc-@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041470.683165 s, next control iter: 1743041471.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743041471.103165 s.;K~,,AJ"J*J2J:Jr0?BJr0?nJ95vJAQ<@AF<@AZoV~? AA#&"AA+hNA"AZAbAjArAzAAA-An4sAb@A8<A<AkݿA˿A`%hA/*A9?2Aֽ:AՄBA9?JAֽRAՄ٘i)I9b@Y" G JJJJJF&K Y{yT~?y4H?AF7)7\p9)BE[[D @[U~?[>[[[[ZZBZYY i) IiT@Ib)= _))_?,@NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041471.143165 s, next control iter: 1743041471.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743041471.523165 s.;K~,{,AAHz<@A <@AgV~? A&A^ &"AA`hNA"AZAbAjArAzAAAc,gzASvsAb@Aom;AAsڿA i"ʿAYA)*Ax9?2Aֽ:AvBAx9?JAֽRAv٘i)I9b@Y G J7]JJJJF&K YsT~?yd=?AF{7j7&r9)B[[@[U~?[D[[[[ZZBZYY iԟ=) }mIi@+= Z))Z@y.=L )YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743041471.543165 s, next control iter: 1743041471.923174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14970, header.stamp.nsec: 00 temperature: 13.389404* salinity: 33.391453, density: 1025.000000* values[0]: 0.688797F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041471.943165 s.[d;K~,O],AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083313< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743041471.943332F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #=@A=@A`V~? A.A &"AAYhNA"AZAbAjArAzAAAB.N AB# nsAybb@A<;A\&A'=ؿAsOȿAŭA*A@9?2Aֽ:ABA@9?JAֽRA٘i)I9bb@Y G J"B=JJJJF&K YEnT~?y F>AF77s9,B)BE[[&@[U~?[K[[[[ZZBZYY i) XIi!@,= 9V))9VH@y3=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041471.983165 s, next control iter: 1743041472.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743041472.363165 s.,AAY=@AّL=@AZZV~? AT6A] &"AAhNA"AZAbAjArAzAAA F AR4sAMb@A)A AMտAyƿAAzjʹ*As9?2AQֽ:AvԼBAs9?JAQֽRAvԼ٘i)I9Mb@Y G JEC=JJJJ F&K YhT~?yN>AF77u9)[[ij@[U~?[R[[[[BZYY i) xBIiΈ@/= Q))Qծ@y=7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041472.383165 s, next control iter: 1743041472.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 14971&, header.stamp.nsec: 0&0 temperature: 13.389502&* salinity: 33.391426&, density: 1025.000000&* values[0]: 0.688446&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041472.783165 s.V A &"AAhNA"AZAbAjArAzAAA\b} AC.$sAXb@AKOAE{7AӿAĿAA:};*A69?2AHֽ:A͎BA69?JAHֽRA͎٘i)I9Xb@Y G J:JJJJ F&K YcT~?yTW`>AFw9)E[[@@[*U~?[EY[[[[BZYY i) &,Ii@}1= nM))nM b@xv*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041472.823165 s, next control iter: 1743041473.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743041473.203165 s. elevatorAngleAction: 0.083313< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743041473.203283F (some fields omitted in printout)AQ=@ARf=@ANV~? AFA* &"AAhNA"AZAbAjArAzAAAX; Az(sA}b@A A5_AvпA¿A AX;*AH9?2A|vֽ:A1BAH9?JA|vֽRA1٘i)I9}b@Y G J;JJJJ F&K Yu]T~?y_&>AFb7b7Qy9)B[[}˖@[U~?[_[[[[BZYY i) zfIi@4= I))Ix@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041473.223165 s, next control iter: 1743041473.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743041473.623165 s.X@A2g#>@AEV~? AUA* &"AAՒhNA"AZAbAjArAzAAAA AW2sAc@Al<A.A˿A`9㽿A+Acf_<*Ae9?2A׽:ATBAe9?JA׽RAT٘i)I9c@Y0 G J~E<JJJJF&K Y?RT~?yCq=AFb77|9)BE[[Ŀ[U~?[@m[[[[BZYY i) ػIiP@5:= s@))s@s@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041474.063165 s, next control iter: 1743041474.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743041474.463165 s.\' elevatorAngleAction: 0.083313< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743041474.463329F (some fields omitted in printout)Afffff>@AZY>@AAV~? A]AY &"AAhNA"AZAbAjArAzAAA%=]C Ad7sAuc@AE<AlCAxȿAA@]=A8چ<*Aؙ9?2A׽:A 0BAؙ9?JA׽RA 0Y@,ȿy@DYF<ٓH ,n?Q? ^`r?@?6?? ?)@ I٘i)I9uc@Yo G J}t<JkJJJF&K> YZRT~?yz>AȿF777~9)B[[¿[U~?[s[[[[BZYY i8F=) Ii@~:= '<))'<'<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041474.483165 s, next control iter: 1743041474.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14973, header.stamp.nsec: 00 temperature: 13.572849* salinity: 33.374989, density: 1025.000000* values[0]: 0.567749F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041474.883165 s.y-@A%>@AH>V~? AeAw&"AAhNA"AZAbAjArAzAAA A~GAF7|9) B[[A`[U~?[z[[[[BZYY iS߁=) 򔜻IiR@J;= 7))77*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041474.903165 s, next control iter: 1743041475.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041475.303165 s.W4@A*q>@Aq;V~? AmA &"AA=hNA"AZAbAjArAzAAA(L A[D-AsAd@A:A(_Af_ÿA늲A@XA<*A9?2A ֽ:ABA9?JA ֽRA٘i)I9d@Y G J<JJJJF&K YRT~?y>AF7G9)B[[ 1[U~?[m[[[[BZYY i) }Ii@J<= ;R3));R3;R3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041475.323165 s, next control iter: 1743041475.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 14974., header.stamp.nsec: 0.0 temperature: 13.572617.* salinity: 33.374989., density: 1025.000000.* values[0]: 0.568313.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041475.723165 s.; elevatorAngleAction: 0.063414< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743041475.723342F (some fields omitted in printout)Az?@A3>@A9V~? AvA+&"AAI~hNA"AZAbAjArAzAAAĢB! AmjFsA+%e@AAAA`+AycA<*A9?2AK2ֽ:AhBA9?JAK2ֽRAh٘i)I9%e@Yv G J<JJJJF&K YRT~?yyU?AF7ŧ79)BE[[[U~?[[[[[BZYY i) AIi@== 3.))3.3.y3=%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041475.743165 s, next control iter: 1743041476.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743041476.143165 s.W/B= 3*))3*3*y&=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041476.163165 s, next control iter: 1743041476.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743041476.563165 s.H YUT~?y2@AFb79)B[[/[U~?[f[[[[BZYY i) dIip@}H?= D&))D&D&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041476.583165 s, next control iter: 1743041476.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14975, header.stamp.nsec: 00 temperature: 13.572320* salinity: 33.374981, density: 1025.000000* values[0]: 0.569082F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041476.983165 s.O,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.063414< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743041476.983283F (some fields omitted in printout)J"J*J2J:JBJnJvJA\?@A>x?@AM5V~? A5A3&"AA1whNA"AZAbAjArAzAAA n A2TsA9g@AwA04AzAxΊA@vA<*A\9?2Aֽ:ABA\9?JAֽRA٘i)I99g@Y G Jc<JJJJF&K YXT~?yŮ@AF{7j7q9)B[[)}[U~?[[[[[BZYY i) >~Iiە@?= w!))w!w!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041477.003165 s, next control iter: 1743041477.383181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743041477.403165 s.&V elevatorAngleAction: 0.063414< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743041478.243328F (some fields omitted in printout)Aףp=J@@AR1=@@AF6V~? AmA;&"AA\whNA"AZAbAjArAzAAAX0W Al2csAx,i@A/?<Ae"A A`}j?AsA/<*AM9?2A׽:ABAM9?JA׽RAI٘i)I9,i@Y G JȽ<JJJJF&K YaT~?yɩBAF)7ŧ7ю9)B[[k[U~?[[[[[BZYY i) ];Ii3@uB= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041478.263165 s, next control iter: 1743041478.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041478.663165 s.j YjgT~?yѩhBAF77{79-B)߯BE[[Ь[U~?[D[[[[BZYY i,=) v[;IiA@B= 7))77R*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041478.683165 s, next control iter: 1743041479.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041479.083165 s.DqکBAFg9)گB[[#[U~?[ż[[[[BZYY i) X݋;Ii}@G0C= k: ))k: k: +*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041479.103165 s, next control iter: 1743041479.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041479.503165 s.w elevatorAngleAction: 0.073544< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200692 time: 1743041479.503353F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@@Ay@@Aé[[[[BZYY i) I5;Ii@C= ))*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743041479.523165 s, next control iter: 1743041479.903185 s, wait time: 0.380020 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14978, header.stamp.nsec: 00 temperature: 13.571388* salinity: 33.374985, density: 1025.000000* values[0]: 0.571400F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743041479.923165 s.;~V~? AƪA(^&"AÂhNA"AZAbAjArAzAAAK A FwsAzk@AEAlAԦAW?A ?LA5|<*Ax9?2Aliֽ:AaBAx9?JAliֽRAa٘i)I9zk@YQG J;<JJJJ!F&K YxT~?yyCAF79)үB[[!P[FU~?[ɩ[[[[BZYY i) R;Ii@}D= g))ggy= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743041479.943165 s, next control iter: 1743041480.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743041480.343165 s.< elevatorAngleAction: 0.073544< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743041480.763303F (some fields omitted in printout)ǍA@A(A@AuFV~? A֪A%&"AAJhNA"AZAbAjArAzAAADM A&sA~l@Aq:ÄAA@F?A(A<*A{9?2Aֽ:ABA{9?JAֽRAYP@灡ÿq:ٓH k?`{?{`jw?4?@?#N??)P@ I٘i)I9~l@YG J<C=Jo<JJJ$F&K:x> Y>T~?y|XDAF779)ʯB[[[l V~?[r֩[[[[BZYY i) z<JJJJ'F&K YlT~?yC EAFj7'9/B)įBE[[[V~?[[[[[BZYY i) )" elevatorAngleAction: 0.073544< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J dt: 0.420018*J2J2 time: 1743041482.023298F (some fields omitted in printout):JBJnJvJAHz.B@AU !B@AUV~? A^AgT%"AAhNA"AZAbAjArAzAAA|pV] AוފsAm@Ab<A6AGA ?AAۍ<*Ah9?2Aֽ:ABAh9?JAֽRA٘i)I9m@YG J+<B=JJJJ(F&K YT~?ykEAF90B)BE[[~[;V~?[Y[[[[BZYY i) ӛ1,AJ"J*J2J:JBJnJvJAB@ATގB@AXbV~? A A!%"AAkhNA"AZAbAjArAzAAAU) A:pnsAsn@AhA7A<A ?A٤A%<*A9?2Afֽ:A BA9?JAfֽRA Y@W|y7ٓH`G~?X?!wlD/?h? y̱?L~?)@ I٘i)I9n@Y^G J<JcٻJJJ+F&Kw> YT~?y&'FA|Fŧ7b791B)B!E[[{-[.V~?[[[[[BZYY i)  P elevatorAngleAction: 0.082356< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743041483.283305F (some fields omitted in printout)A(\B@AOB@AuiV~? AA%"AAƿhNA"AZAbAjArAzAAAV}A؝sAYo@AEA_AA՞?A/A ə<*A9?2AVQֽ:A% BA9?JAVQֽRA% ٘i)I9Yo@YG J<JJJJ,F&K Y)T~?y1.FAF77{7R9)B[[#[ 7V~?[[[[[BZYY i)  _sA]p@AYAޠA'A^E?A 8A_\<*Ad9?2A#ֽ:A BAd9?JA#ֽRA ٘i)I9]p@YKG J6<C=JJJJ/F&K YT~?yW>FGAF77{792B)B%E[[i[HV~?[[[[[BZYY i) ~ elevatorAngleAction: 0.082356< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743041484.543285F (some fields omitted in printout)A= ףpC@AncC@AсV~? AA%"AAshNA"AZAbAjArAzAAAXb.A^sA^p@A3 ;A̘AWA ?AA3<*Ag9?2A* ׽:Aa BAg9?JA* ׽RAa ٘i)I9p@YG J<B=JJJJ0F&K YT~?yjFGAF9)B[[[QV~?[ [[[[BZYY i) H x> YT~?yNHAsFj7}9)B[[-`[g[V~?[[[[[BZYY i)  elevatorAngleAction: 0.082356< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200702 time: 1743041485.803341F (some fields omitted in printout)AD@A6D@AV~? AP3AK %"AA iNA"AZAbAjArAzAAAc,rAI1sA6zr@An;AA1A@?A A+<*Ag9?2ASֽ:ABAg9?JASֽRA٘i)I9zr@YG J<JJJJ4F&K Y U~?ym]HAF77779)B[[ [oV~?[[[[[BZYY i) 4 elevatorAngleAction: 0.082356< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743041487.063289F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333D@AF(D@AV~? A9IAM_%"AA?iNA"AZAbAjArAzAAA`LAV}sAOt@A!DA[MA\uA E?AA<*A9?2A5ֽ:ABBA9?JA5ֽRABY*q@ty9JDٓH`qa?`*? {{@0j?R%?@C?@?)*q@ I٘i)I9Ot@YG J<B=J߅JJJ8F&Kw> Y~7U~?ys$JAtF77{7r97B)B0E[[%[ V~?[0[[[[BZYY i)  elevatorAngleAction: 0.082356< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743041488.323270F (some fields omitted in printout)AGzTE@A<-?pGE@AQV~? Au^A)%"AAviNA"AZAbAjArAzAAAcNjЁAQ3sAYAv@AY<AܭA=eA`?Ag6AB<*A9?2A ׽:ABA9?JA ׽RA٘i)I9Av@YG Jk<JJJJ<F&K YHhU~?y{KAF77ҹ9)B[[+v[]V~?[A[[[[BZYY i᜺=) F&K YxU~?yKAFb7b799B)B7E[[q[V~?[F[[[[BZYY i)  - YU~?yYdLAZF77g9)}B[[m[cV~?[KL[[[[BZYY i) Bj elevatorAngleAction: 0.091120< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743041489.583277F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\E@AwE@AW~? ArA+%"AAiNA"AZAbAjArAzAAA"ɡA-WusA9x@AR:A+AlUA5?A@qA<*Ab9?2Aoֽ:ABAb9?JAoֽRA٘i)I99x@YG J <JJJJ@F&K YU~?yLAFb7729:B)xB:E[[71i[YV~?[Q[[[[ZZZZ¸>BZYY i¸>ȫ) VqAPA`?A,A<*AȀ9?2A ֽ:A[BAȀ9?JA ֽRA[٘i)I9x@YG J;<B=JJJJBF&K YU~?yQMAF79;B)tB=E[[Kd[V~?[V[[[[ZZZZBZYY i) uTsAc{@ATzAtA@A@m??ANA9<*A\9?2A3gֽ:AmBA\9?JA3gֽRAmY@@ytlٓHL?`?`܆ V?@r¥?`M?IOb Y?)@ I٘i)I9c{@YG J<J$=JJJFF&KIw> YU~?y귪NA@Fj7Z7]9)bB[[sW[,W~?[$f[[[[ZZZZBZYY i) AwF@A\W~? A/A%"AA(jNA"AZAbAjArAzAAAǿAayd$sA3!|@A;A0A;A ,?AAt<*A9?2Auֽ:AüBA9?JAuֽRAü٘i)I9!|@YtG J<JJJJGF&K Y[U~?yNAF{7j7'9>B)]BDE(JTimed out from 2025-03-26T22:11:31.6Z&:profile_station is completed.&LUninitializing Mission profile_stationq(NAggregate::uninitialize profile_station )^Aggregate::uninitialize profile_station:Science1q -xAggregate::uninitialize profile_station:Science:OceanCurrent1 .zAggregate::uninitialize profile_station:Science:PeakDetectChl /Uninitialize.( QrAggregate::uninitialize profile_station:StandardEnvelopes(QNUninitialize AltitudeEnvelopeComponent.1) RUninitialize.q)RNUninitialize OffshoreEnvelopeComponent.q*TlAggregate::uninitialize profile_station:BackseatDriver**UbAggregate::uninitialize profile_station:PowerOnly1, X8Uninitialize Wait Component.,,Y@Uninitialize Buoyancy Component.1- Z`Aggregate::uninitialize profile_station:SetSpeed1. \zAggregate::uninitialize profile_station:SetSpeed:ProfileSpeedq.\Uninitialize.. ]Uninitialize..]NUninitialize AltitudeEnvelopeComponent.1/ ^6Uninitialize YoYoComponent.q/^jAggregate::uninitialize profile_station:CircleWrapper//_Uninitialize.///-,,*!*!*!*!*!a*!a)((!(}!(y!(u!a%m!a%i!a%e!a%a!a%]!a%Y!a%U!a%Q!M!I!E!A!=!9!5!1!-!)!%!!!!!!! ! !!!                                } y u q m i e a ] Y U Q M I E A = 9 5 1 - ) % !         aa}ayauaqamaiaeaaa]aYaUaQaMaIaEaAa= w:) )iu*YFFF]:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14991, header.stamp.nsec: 00 temperature: 13.567094* salinity: 33.375076, density: 1025.000000* values[0]: 0.581052F (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 14992%, header.stamp.nsec: 0%0 temperature: 13.566835%* salinity: 33.375080%, density: 1025.000000%* values[0]: 0.581567%F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 149935, header.stamp.nsec: 050 temperature: 13.5666855* salinity: 33.3750925, density: 1025.0000005* values[0]: 0.5817315F (some fields omitted in printout)[U~?)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 14994E, header.stamp.nsec: 0E0 temperature: 13.566693E* salinity: 33.375118E, density: 1025.000000E* values[0]: 0.581601EF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 14995m, header.stamp.nsec: 0m0 temperature: 13.566814m* salinity: 33.375114m, density: 1025.000000m* values[0]: 0.581123mF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14996, header.stamp.nsec: 00 temperature: 13.567005* salinity: 33.375118, density: 1025.000000* values[0]: 0.580481F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14997, header.stamp.nsec: 00 temperature: 13.567263* salinity: 33.375149, density: 1025.000000* values[0]: 0.579714F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 14998, header.stamp.nsec: 00 temperature: 13.567496* salinity: 33.375126, density: 1025.000000* values[0]: 0.578899F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 14999 , header.stamp.nsec: 0 0 temperature: 13.567775 * salinity: 33.375164 , density: 1025.000000 * values[0]: 0.578021 F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15000 , header.stamp.nsec: 0 0 temperature: 13.568030 * salinity: 33.375179 , density: 1025.000000 * values[0]: 0.577188 F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15001 , header.stamp.nsec: 0 0 temperature: 13.568291 * salinity: 33.375179 , density: 1025.000000 * values[0]: 0.576357 F (some fields omitted in printout)&EA=K~,S,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.000000@ elevatorAngleAction: -0.083824< massPositionAction: 0.0000004 buoyancyAction: 0.000945 dt: 0.4000312 time: 1743041492.083314F (some fields omitted in printout)AQL@AWC)G@AY~? A A(h%"AAfmNA"AZAbAjArAzAAAcl@A@ F=tAq@A;<A漶=A}`MA  ?A@cϿA*AA9?2Aս:A(=BAA9?JAսRA(=I٘i)I9q@YG JھK=JQ>JJJHF&K> Y'V~?yê0OAFŧ7b79)BGE&.Started mission DefaultKq1b:Aggregate::initialize Default1c@Initialize GoToSurfaceComponent.cNo depth rate setting specified. Using default value of nan m/s.c~No pitch setting specified. Using default value of nan degrees.cNo speed setting specified. Using default value of 1.000000 m/s.cNo surface timeout specified. Using default value of 1000.000000 seconds.cNo altitude timeout specified. Using default value of 600.000000 seconds.cnReceived pitch timeout configuration 60.000000 seconds.1 c4Initialize Wait Component.\\\?\\ ?\`\\ Xz:iS>`q@) 6)PwV=SAYFFF];vtReceived state from Gazebo (printed only once in a while):v2 header.stamp.sec: 15002v, header.stamp.nsec: 0v0 temperature: 13.568645v* salinity: 33.375191v, density: 1025.000000v* values[0]: 0.575145vF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15003 , header.stamp.nsec: 0 0 temperature: 13.568756 * salinity: 33.375195 , density: 1025.000000 * values[0]: 0.574788 F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15004, header.stamp.nsec: 00 temperature: 13.568938* salinity: 33.375221, density: 1025.000000* values[0]: 0.574145F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15005, header.stamp.nsec: 00 temperature: 13.569112* salinity: 33.375229, density: 1025.000000* values[0]: 0.573522F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15006, header.stamp.nsec: 00 temperature: 13.569269* salinity: 33.375252, density: 1025.000000* values[0]: 0.572935F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15007-, header.stamp.nsec: 0-0 temperature: 13.569379-* salinity: 33.375240-, density: 1025.000000-* values[0]: 0.572442-F (some fields omitted in printout)%'V~?)%ê5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 150085, header.stamp.nsec: 050 temperature: 13.5695145* salinity: 33.3752825, density: 1025.0000005* values[0]: 0.5720115F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15009E, header.stamp.nsec: 0E0 temperature: 13.569552E* salinity: 33.375282E, density: 1025.000000E* values[0]: 0.571626EF (some fields omitted in printout)E tReceived state from Gazebo (printed only once in a while):E 2 header.stamp.sec: 15010E , header.stamp.nsec: 0E 0 temperature: 13.569653E * salinity: 33.375282E , density: 1025.000000E * values[0]: 0.571295E F (some fields omitted in printout)E tReceived state from Gazebo (printed only once in a while):E 2 header.stamp.sec: 15011E , header.stamp.nsec: 0E 0 temperature: 13.569674E * salinity: 33.375275E , density: 1025.000000E * values[0]: 0.571025E F (some fields omitted in printout)E tReceived state from Gazebo (printed only once in a while):E 2 header.stamp.sec: 15012E , header.stamp.nsec: 0E 0 temperature: 13.569708E * salinity: 33.375294E , density: 1025.000000E * values[0]: 0.570818E F (some fields omitted in printout)_G=K~,_,AAHznR@AB[G@A[~? AREA%"AApNA"AZAbAjArAzAAAgcE,*@Ai]`tAd@AAp=ACAA?AƿA^_ۻ*A ?2A9~9:A<BA ?JA9~9RA<I٘i)I9d@YB G JN=JQ>JJJ&K>&New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -28.00 mm (3 active estimators). Yy ?b779)B\\\\\\\\ i뢀>d@) )yFFF]:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15013, header.stamp.nsec: 00 temperature: 13.569721* salinity: 33.375317, density: 1025.000000* values[0]: 0.570634F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15014-, header.stamp.nsec: 0-0 temperature: 13.569715-* salinity: 33.375324-, density: 1025.000000-* values[0]: 0.570478-F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15015-, header.stamp.nsec: 0-0 temperature: 13.569742-* salinity: 33.375343-, density: 1025.000000-* values[0]: 0.570257-F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15016=, header.stamp.nsec: 0=0 temperature: 13.569780=* salinity: 33.375332=, density: 1025.000000=* values[0]: 0.569943=F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15017E, header.stamp.nsec: 0E0 temperature: 13.569897E* salinity: 33.375359E, density: 1025.000000E* values[0]: 0.569499EF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15018], header.stamp.nsec: 0]0 temperature: 13.570089]* salinity: 33.375355], density: 1025.000000]* values[0]: 0.568795]F (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15019}, header.stamp.nsec: 0}0 temperature: 13.570421}* salinity: 33.375381}, density: 1025.000000}* values[0]: 0.567790}F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15020, header.stamp.nsec: 00 temperature: 13.570866* salinity: 33.375381, density: 1025.000000* values[0]: 0.566412F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15021, header.stamp.nsec: 00 temperature: 13.571524* salinity: 33.375397, density: 1025.000000* values[0]: 0.564562F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15022 , header.stamp.nsec: 0 0 temperature: 13.572352 * salinity: 33.375412 , density: 1025.000000 * values[0]: 0.562235 F (some fields omitted in printout)1 )1  tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15023 , header.stamp.nsec: 0 0 temperature: 13.573410 * salinity: 33.375412 , density: 1025.000000 * values[0]: 0.559397 F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15024 , header.stamp.nsec: 0 0 temperature: 13.574643 * salinity: 33.375431 , density: 1025.000000 * values[0]: 0.556029 F (some fields omitted in printout)zM=K~,8,AAq= #X@AI.!G@AE^~? AǐAj%"AA'tNA"AZAbAjArAzAAAT;4@AVtAK@@A5lA\>A $A`?AԿA*AR?2Az =:A[B=BAR?JAz =RA[B=٘i)I9K@@Y F JL=JQ>JJJ&K> YyZ7Z7F9)7K@@) {w=)Y2U=FFF]c:RtReceived state from Gazebo (printed only once in a while):R2 header.stamp.sec: 15025R, header.stamp.nsec: 0R0 temperature: 13.576116R* salinity: 33.375435R, density: 1025.000000R* values[0]: 0.552071RF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15026, header.stamp.nsec: 00 temperature: 13.577826* salinity: 33.375435, density: 1025.000000* values[0]: 0.547495F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15027, header.stamp.nsec: 00 temperature: 13.579782* salinity: 33.375458, density: 1025.000000* values[0]: 0.542319F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15028, header.stamp.nsec: 00 temperature: 13.581964* salinity: 33.375469, density: 1025.000000* values[0]: 0.536531F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15029, header.stamp.nsec: 00 temperature: 13.584434* salinity: 33.375465, density: 1025.000000* values[0]: 0.530049F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15030, header.stamp.nsec: 00 temperature: 13.587132* salinity: 33.375492, density: 1025.000000* values[0]: 0.522916F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15031, header.stamp.nsec: 00 temperature: 13.590117* salinity: 33.375500, density: 1025.000000* values[0]: 0.515149F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15032, header.stamp.nsec: 00 temperature: 13.593353* salinity: 33.375507, density: 1025.000000* values[0]: 0.506658F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 15033% , header.stamp.nsec: 0% 0 temperature: 13.596862% * salinity: 33.375511% , density: 1025.000000% * values[0]: 0.497488% F (some fields omitted in printout)5 tReceived state from Gazebo (printed only once in a while):5 2 header.stamp.sec: 150345 , header.stamp.nsec: 05 0 temperature: 13.6006395 * salinity: 33.3755195 , density: 1025.0000005 * values[0]: 0.4876355 F (some fields omitted in printout)5 tReceived state from Gazebo (printed only once in a while):5 2 header.stamp.sec: 150355 , header.stamp.nsec: 05 0 temperature: 13.6046805 * salinity: 33.3755115 , density: 1025.0000005 * values[0]: 0.4770795 F (some fields omitted in printout)ST=K~,S#R,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 31.416014: rudderAngleAction: 0.052360@ elevatorAngleAction: -0.070418> massPositionAction: -0.0280004 buoyancyAction: 0.000955 dt: 0.4000452 time: 1743041493.283501F (some fields omitted in printout)A ףp]@A6\G@A)Ja~? AlA%"AAyNA"AZAbAjArAzAAAAcK=@AsAWtA=AAsm>Az A`9?AvۿA)1*Ax?2A+=:Ai=BAx?JA+=RAi=I٘i)I9=YՑD JJJJJ&K Yyb779)B\\\\\\ ) )FFF]:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15036, header.stamp.nsec: 00 temperature: 13.608974* salinity: 33.375542, density: 1025.000000* values[0]: 0.465829F (some fields omitted in printout))tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15037, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15038-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15039-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15040-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15041-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15042-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15043, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15044, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 15045% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)- tReceived state from Gazebo (printed only once in a while):- 2 header.stamp.sec: 15046- , header.stamp.nsec: 0- $ temperature: nan-  salinity: nan- , density: 1025.000000- values[0]: nan- F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 15047% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)mZ=K~,k,AA ףpc@A#J{G@Ab~? ADA~%"AAU{NA"AZAbAjArAzAAA.A@A(ctA0оA<A.?AUA@&?A\Ap*A;qG>2A<:A5=BA;qG>JA<RA5=I٘i)I9оY4} JJJJJ&K Yy{7{79)B\\\\\\ tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15048, header.stamp.nsec: 0) $ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout))(:dɼYSAFFF]{:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15049, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15050, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15051 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15052 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)!)!tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15053, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15054, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15055, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15056, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)5 tReceived state from Gazebo (printed only once in a while):5 2 header.stamp.sec: 150575 , header.stamp.nsec: 05 $ temperature: nan5  salinity: nan5 , density: 1025.0000005 values[0]: nan5 F (some fields omitted in printout)- tReceived state from Gazebo (printed only once in a while):- 2 header.stamp.sec: 15058- , header.stamp.nsec: 0- $ temperature: nan-  salinity: nan- , density: 1025.000000- values[0]: nan- F (some fields omitted in printout)- tReceived state from Gazebo (printed only once in a while):- 2 header.stamp.sec: 15059- , header.stamp.nsec: 0- $ temperature: nan-  salinity: nan- , density: 1025.000000- values[0]: nan- F (some fields omitted in printout)5 tReceived state from Gazebo (printed only once in a while):5 2 header.stamp.sec: 150605 , header.stamp.nsec: 05 $ temperature: nan5  salinity: nan5 , density: 1025.0000005 values[0]: nan5 F (some fields omitted in printout)EFa=K~,yX,AAQj@AG)H@A5c~? ASAj%"AA|NA"AZAbAjArAzAAA 6A@AemuAaξAf2<A>AA ?AfAC;*A=2Af<:AC.=BA=JAf<RAC.=I٘i)I9aξY{ J#<I=JQ>J?J?JJF&K> Y!+V~?y˪OA? L>@F)7ŧ7l9) B\\\\\\ ) )"|1:y"7" elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.3999482 time: 1743041494.483641F (some fields omitted in printout)AGo@A,[H@Ac~? A|\A%"AAx|NA"AZAbAjArAzAAA]SB@A"D[B uAξArļAA=y>ATξA??AfQA*AU:=2A;:AՐ<BAU:=JA;RAՐ<٘i)I9ξYR{ Jd_P=JQ>JJJ&K> Yy ?b7b79)\\\\\\ ) )::FFF]J:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15072, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15073 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15074, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15075 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15076, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15077-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15078, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15079-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 15080%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 15081% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)5 tReceived state from Gazebo (printed only once in a while):5 2 header.stamp.sec: 150825 , header.stamp.nsec: 05 $ temperature: nan5  salinity: nan5 , density: 1025.0000005 values[0]: nan5 F (some fields omitted in printout)A )A = tReceived state from Gazebo (printed only once in a while):= 2 header.stamp.sec: 15083= , header.stamp.nsec: 0= $ temperature: nan=  salinity: nan= , density: 1025.000000= values[0]: nan= F (some fields omitted in printout)5 tReceived state from Gazebo (printed only once in a while):5 2 header.stamp.sec: 150845 , header.stamp.nsec: 05 $ temperature: nan5  salinity: nan5 , density: 1025.0000005 values[0]: nan5 F (some fields omitted in printout){m=K~,G,AA(\v@ASt$H@ASc~? AdA]%"AA|NA"AZAbAjArAzAAA+="B@A&%uA6ξA58A+ACmžA@>p?A∙AP"9*A?ޛ=2A:;:ABA?ޛ=JA:;RAI٘i)I9ξYA{ Jˉ9L=JQ>JJJ&K> YyZ7Z79)\\\\\\ ) )XD:)FFF]O: tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15085 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15086 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15087 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15088, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 15089%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15090, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15091-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 150925, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)= tReceived state from Gazebo (printed only once in a while):= 2 header.stamp.sec: 15093= , header.stamp.nsec: 0= $ temperature: nan=  salinity: nan= , density: 1025.000000= values[0]: nan= F (some fields omitted in printout)= tReceived state from Gazebo (printed only once in a while):= 2 header.stamp.sec: 15094= , header.stamp.nsec: 0= $ temperature: nan=  salinity: nan= , density: 1025.000000= values[0]: nan= F (some fields omitted in printout)M tReceived state from Gazebo (printed only once in a while):M 2 header.stamp.sec: 15095M , header.stamp.nsec: 0M $ temperature: nanM  salinity: nanM , density: 1025.000000M values[0]: nanM F (some fields omitted in printout)Tt=K~,',AAQ{@AuXH@Ad~? AlAl%"AAS}NA"AZAbAjArAzAAADI/C@A4(<uAξA<A=BA)A`ܱ?AYA'9K5*Aɖ=2A];:A|BAɖ=JA];RA|I٘i)I9ξYK{ Ju&JJJJ&K Yyŧ7b79)\\\\\\ ) )M:4)FFF]`: tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15096 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15097, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout))tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15098, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15099, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15100, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15101, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15102-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 151035, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 151045, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)- tReceived state from Gazebo (printed only once in a while):- 2 header.stamp.sec: 15105- , header.stamp.nsec: 0- $ temperature: nan-  salinity: nan- , density: 1025.000000- values[0]: nan- F (some fields omitted in printout)= tReceived state from Gazebo (printed only once in a while):= 2 header.stamp.sec: 15106= , header.stamp.nsec: 0= $ temperature: nan=  salinity: nan= , density: 1025.000000= values[0]: nan= F (some fields omitted in printout)= tReceived state from Gazebo (printed only once in a while):= 2 header.stamp.sec: 15107= , header.stamp.nsec: 0= $ temperature: nan=  salinity: nan= , density: 1025.000000= values[0]: nan= F (some fields omitted in printout)nz=K~,7,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000822 time: 1743041495.683829F (some fields omitted in printout)A)\@Az4ՓH@AYd~? AjsA0%"AAs}NA"AZAbAjArAzAAA\5dC@A,AuAξA1AQXA4WA@c6*A&!W=2A&8C;:A&dBA&!W=JA&8C;RA&d$$٘$i$)$I$9&ξY&Y{ $J&|&H=J$Q&>J$J$J$&K$&> $Y$y$$$$$&7&77&9$)$$\$\$\$\$\$\$ $$$$)$ $)$$&`:&*F$F$F$]&< tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15121 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15122, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15123, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15124 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15125, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15126, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 151275, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)9)9-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15128-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)E tReceived state from Gazebo (printed only once in a while):E 2 header.stamp.sec: 15129E , header.stamp.nsec: 0E $ temperature: nanE  salinity: nanE , density: 1025.000000E values[0]: nanE F (some fields omitted in printout)5 tReceived state from Gazebo (printed only once in a while):5 2 header.stamp.sec: 151305 , header.stamp.nsec: 05 $ temperature: nan5  salinity: nan5 , density: 1025.0000005 values[0]: nan5 F (some fields omitted in printout)5 tReceived state from Gazebo (printed only once in a while):5 2 header.stamp.sec: 151315 , header.stamp.nsec: 05 $ temperature: nan5  salinity: nan5 , density: 1025.0000005 values[0]: nan5 F (some fields omitted in printout)a=K~,,AtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15132, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A"[I@ABd~? AgA%"AA~NA"AZAbAjArAzAAA&eg`D@A_c!uA~ξAH<A=CA&A@?A A&*A=2Am;;:A!TBA=JAm;;RA!TY@2˿yC <ٓH;?`U?@Kd׿ ?|q?8??)@ II٘i)I9ξYb{ JQ=J~JJJ&Kw?> Yyŧ7b79)\\\\\\ ) )j:*FFF]y:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15133, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15134 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15135, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15136, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15137, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15138=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 151395, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15140-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)= tReceived state from Gazebo (printed only once in a while):= 2 header.stamp.sec: 15141= , header.stamp.nsec: 0= $ temperature: nan=  salinity: nan= , density: 1025.000000= values[0]: nan= F (some fields omitted in printout)= tReceived state from Gazebo (printed only once in a while):= 2 header.stamp.sec: 15142= , header.stamp.nsec: 0= $ temperature: nan=  salinity: nan= , density: 1025.000000= values[0]: nan= F (some fields omitted in printout)Q )Q M tReceived state from Gazebo (printed only once in a while):M 2 header.stamp.sec: 15143M , header.stamp.nsec: 0M $ temperature: nanM  salinity: nanM , density: 1025.000000M values[0]: nanM F (some fields omitted in printout)|=K~,28,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000602 time: 1743041496.883962F (some fields omitted in printout)AG@A,I@Ae~? AA]%"AA6~NA"AZAbAjArAzAAAC&`D@AwK%uAξA[QsAмAy¾A]?A<AB*A@ =2A=;:ABA@ =JA=;RAI٘i)I9ξYj{ JL=JQ>JJJ&K> Yy77W9)\\\\\\ ) )|s:*FFF]N:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15144, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15145, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15146 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15147, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15148, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 15149%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 15150%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15151-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15152-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)E tReceived state from Gazebo (printed only once in a while):E 2 header.stamp.sec: 15153E , header.stamp.nsec: 0E $ temperature: nanE  salinity: nanE , density: 1025.000000E values[0]: nanE F (some fields omitted in printout)5 tReceived state from Gazebo (printed only once in a while):5 2 header.stamp.sec: 151545 , header.stamp.nsec: 05 $ temperature: nan5  salinity: nan5 , density: 1025.0000005 values[0]: nan5 F (some fields omitted in printout)= tReceived state from Gazebo (printed only once in a while):= 2 header.stamp.sec: 15155= , header.stamp.nsec: 0= $ temperature: nan=  salinity: nan= , density: 1025.000000= values[0]: nan= F (some fields omitted in printout)U=K~,+R,AAQ@Ab~nI@AWe~? AAj %"AAP=NA"AZAbAjArAzAAA.E@A.D)uAaξAAAfľAc ?A"*AK7*A,~=2A,;;:A^{BA,~=JA,;;RA^{I٘i)I9ξYn{ JJJJJ&K Yyb7 9)\\\\\\ ) )Xz:*FFF]: tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15156 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15157 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout))))tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15158, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15159-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15160=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 15161%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15162-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15163=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15164=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)= tReceived state from Gazebo (printed only once in a while):= 2 header.stamp.sec: 15165= , header.stamp.nsec: 0= $ temperature: nan=  salinity: nan= , density: 1025.000000= values[0]: nan= F (some fields omitted in printout)= tReceived state from Gazebo (printed only once in a while):= 2 header.stamp.sec: 15166= , header.stamp.nsec: 0= $ temperature: nan=  salinity: nan= , density: 1025.000000= values[0]: nan= F (some fields omitted in printout)M tReceived state from Gazebo (printed only once in a while):M 2 header.stamp.sec: 15167M , header.stamp.nsec: 0M $ temperature: nanM  salinity: nanM , density: 1025.000000M values[0]: nanM F (some fields omitted in printout)o=K~,k,AA ףp@A£I@Ae~? AA%"AANA"AZAbAjArAzAAA\)g[sE@AMa>-uAѤξA+<A[}AƾA`?AA >*A0v=2A.2;:AxBA0v=JA.2;RAx٘i)I9Yo{ J JJJJ&K Yy9)\\\\\\ ) )*FFF]:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15168, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15169, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15170, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 15171%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15172-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)9)9%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 15173%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15174-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15175=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15176=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)5 tReceived state from Gazebo (printed only once in a while):5 2 header.stamp.sec: 151775 , header.stamp.nsec: 05 $ temperature: nan5  salinity: nan5 , density: 1025.0000005 values[0]: nan5 F (some fields omitted in printout)M tReceived state from Gazebo (printed only once in a while):M 2 header.stamp.sec: 15178M , header.stamp.nsec: 0M $ temperature: nanM  salinity: nanM , density: 1025.000000M values[0]: nanM F (some fields omitted in printout)M tReceived state from Gazebo (printed only once in a while):M 2 header.stamp.sec: 15179M , header.stamp.nsec: 0M $ temperature: nanM  salinity: nanM , density: 1025.000000M values[0]: nanM F (some fields omitted in printout);H=K~,`,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000042 time: 1743041498.084104F (some fields omitted in printout)AQ@AV`(J@Ae~? A_A %"AANA"AZAbAjArAzAAAgaE@Aq| 1uAξAi_:A{A$ɾA@+?A UXAQ*A#n=2A׉1;:A.fkBA#n=JA׉1;RA.fk)I٘i)I9Y J+M=JJJJ&K Yyŧ7b7u9)\\\\\\ ) )b*FFF],: tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15180 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 15181%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15182, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15183, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 15184%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 151855, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15186-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 151875, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)I)I=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15188=, header.stamp.nsec: 0=$ temperature: nan= salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 15189U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)M tReceived state from Gazebo (printed only once in a while):M 2 header.stamp.sec: 15190M , header.stamp.nsec: 0M $ temperature: nanM  salinity: nanM , density: 1025.000000M values[0]: nanM F (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 15191U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)b=K~,P,AAG@APc\J@A f~? AA,%"AA>NA"AZAbAjArAzAAAvF@AνCm5uAξAƼAz}A̾AN?AhAwA7*A|g=2A;0;:A`BA|g=JA;0;RA`I٘i)I9ξY JL=JJJJ&K Yyb77+9)\\\\\\ ) )*FFF]u:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15192, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15193, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15194-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 15195%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 15196%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 151975, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15198E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15199E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15200=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)m tReceived state from Gazebo (printed only once in a while):m 2 header.stamp.sec: 15201m , header.stamp.nsec: 0m $ temperature: nanm  salinity: nanm , density: 1025.000000m values[0]: nanm F (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15202] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)Y )Y U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 15203U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)}=K~,͕,AA)\@ADkEJ@A7f~? AAK%"AA&NA"AZAbAjArAzAAAb,mF@AEAZ 9uAŤξAw]<AA ̾A?AAS*Aga=2Av';:ACSgBAga=JAv';RACSgY@6@h;y>R<ٓH`pf?e?/Zؿw?a?0?`.:??)@6@ II٘i)I9ξYn{ JU6JJJJ&K Yy79)\\\\\\ ) )*FFF]:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15204, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15205-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15206-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 152075, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15208=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15209=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 152105, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15211E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15212M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)E tReceived state from Gazebo (printed only once in a while):E 2 header.stamp.sec: 15213E , header.stamp.nsec: 0E $ temperature: nanE  salinity: nanE , density: 1025.000000E values[0]: nanE F (some fields omitted in printout)E tReceived state from Gazebo (printed only once in a while):E 2 header.stamp.sec: 15214E , header.stamp.nsec: 0E $ temperature: nanE  salinity: nanE , density: 1025.000000E values[0]: nanE F (some fields omitted in printout)M tReceived state from Gazebo (printed only once in a while):M 2 header.stamp.sec: 15215M , header.stamp.nsec: 0M $ temperature: nanM  salinity: nanM , density: 1025.000000M values[0]: nanM F (some fields omitted in printout)$V=K~,D0,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000952 time: 1743041499.284317F (some fields omitted in printout)AHz@ArPiJ@Ajf~? AA؝%"AAۀNA"AZAbAjArAzAAAn)F@AvS7JXֹJJJ&K׼ Yy779)\\\\\\ ) )*FFF] :tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15240, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 15241%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 152425, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15243E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15244E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15245=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15246E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15247M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)Y)YUtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15248U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 15249U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)e tReceived state from Gazebo (printed only once in a while):e 2 header.stamp.sec: 15250e , header.stamp.nsec: 0e $ temperature: nane  salinity: nane , density: 1025.000000e values[0]: nane F (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 15251U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)c=K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000862 time: 1743041500.484457F (some fields omitted in printout)AHz@A\K@A3f~? A߾AYB%"AANA"AZAbAjArAzAAA0vG@AdNGuAQξA%<AxAӾA?A X?Ax.*A[J=2A;:ATBA[J=JA;RAT~I٘i)I9ξYo{ JATJJJJ&K Yyŧ7b79)\\\\\\ ) ) *FFF]:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15252, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15253-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15254-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 152555, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15256=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15257=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15258E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15259M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15260M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 15261U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15262] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)i )i ] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15263] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)~=K~,(8,AAq= @AoIK@A1+g~? AgĭAE%"AAyNA"AZAbAjArAzAAA /G@AJc"JuAξA+A*ʁAL־A?AiA^*A/E=2A;:AҶGBA/E=JA;RAҶG٘i)I9Y J6JJJcFJ&K Yy777h9)\\\\\\ ) )˱*FFF]:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15264, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15265-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15266-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15267E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15268M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15269=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15270E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15271U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15272E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)E tReceived state from Gazebo (printed only once in a while):E 2 header.stamp.sec: 15273E , header.stamp.nsec: 0E $ temperature: nanE  salinity: nanE , density: 1025.000000E values[0]: nanE F (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 15274U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 15275U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)+W=K~,4R,AA@ApK@AXg~? AɭA f%"AABNA"AZAbAjArAzAAA4Z##H@A7HNuAξAśA肽A53ؾA`?AqAz7*Au@=2AH;:ABBAu@=JAH;RABY@׾yႽuٓHu%? I9?wڿ`.? ?bY?s?)@ I}I٘i)I9Y J#4J JJJ&Kν Yyj7j79)\\\\\\ ) )N*FFF]:"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 15276", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15277=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)A)A-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15278-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15279E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15280=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15281E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15282E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15283M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15284M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 15285U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15286] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15287] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)q=K~,%k,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000892 time: 1743041501.684627F (some fields omitted in printout)Aq= @AլK@AOg~? ACϭA2%"AANA"AZAbAjArAzAAAnDHfH@AyOQuA ξAQ<AAvؾA@?A`]AyͶ*AQ<=2A ;:A$DBAQ<=JA ;RA$D|I٘i)I9Y J5JJJJ&K Yy77779)\\\\\\ ) )p*FFF]e:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15288, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15289-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 152905, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15291=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15292=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)Q)QEtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15293E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15294M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15295E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15296U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 15297U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 15298U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15299] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)ZJ=K~,i,AA(@Ak&(L@Ag~? AԭAa%"AA`łNA"AZAbAjArAzAAA5wH@AFTuAξA<ASAIھAsn?AJA5*A*8=2A ;:Aȡ<BA*8=JA ;RAȡ<{I٘i)I9Y JJJJJ&K Yy779)\\\\\\ ) )*FFF]U:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15300, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 153015, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15302E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15303U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15304U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15305E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15306M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15307], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)i)iUtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15308U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15309] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 15310U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15311] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)e=K~,,AA{G@A9\L@Ag~? A٭A\&%"AANA"AZAbAjArAzAAAiH@AWuARξAIA_9AOܾA?AߐAu%6*A 3=2A\m ;:Af5BA 3=JA\m ;RAf5٘i)I9Y JJJJJ&K Yyb77;9)\\\\\\ ) )*FFF]:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15312, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 153135, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15314E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15315=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15316E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15317M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15318], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15319], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15320U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)e tReceived state from Gazebo (printed only once in a while):e 2 header.stamp.sec: 15321e , header.stamp.nsec: 0e $ temperature: nane  salinity: nane , density: 1025.000000e values[0]: nane F (some fields omitted in printout)u tReceived state from Gazebo (printed only once in a while):u 2 header.stamp.sec: 15322u , header.stamp.nsec: 0u $ temperature: nanu  salinity: nanu , density: 1025.000000u values[0]: nanu F (some fields omitted in printout)y )y } tReceived state from Gazebo (printed only once in a while):} 2 header.stamp.sec: 15323} , header.stamp.nsec: 0} $ temperature: nan}  salinity: nan} , density: 1025.000000} values[0]: nan} F (some fields omitted in printout)=K~,ԝ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.3999972 time: 1743041502.884714F (some fields omitted in printout)A{G@AOL@Ah~? AޭAU%"AABNA"AZAbAjArAzAAA$I@A7ZuAȤξA~<AڂAݾA`q?A [AA*Ae/=2Aڊ;:A|A5BAe/=JAڊ;RA|A5zI٘i)I9ξYn{ JM,7JJJJ&K YyZ7SI79)\\\\\\ ) )?*FFF]:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15324, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15325=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15326=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15327=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15328U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15329M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15330M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15331], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15332], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15333] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)} tReceived state from Gazebo (printed only once in a while):} 2 header.stamp.sec: 15334} , header.stamp.nsec: 0} $ temperature: nan}  salinity: nan} , density: 1025.000000} values[0]: nan} F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15335 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)X=K~,i8,AA@A%L@A)h~? AAjZ%"AA~NA"AZAbAjArAzAAA]HaI@A3]uAHξA<AՂAI&޾A?AQAV5*A^$,=2AS::A]s2BA^$,=JAS:RA]s2Y @޾yЂ?<ٓH@??`ΰCڿ?̄?(W?ݒ??) @ IyI٘i)I9ξYo{ JJu8JJJ&K! Yy{7j79)\\\\\\ ) )3*FFF]:&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 15336&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15337=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)Q)QEtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15338E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15339M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15340M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15341U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15342U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15343], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15344e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)e tReceived state from Gazebo (printed only once in a while):e 2 header.stamp.sec: 15345e , header.stamp.nsec: 0e $ temperature: nane  salinity: nane , density: 1025.000000e values[0]: nane F (some fields omitted in printout)e tReceived state from Gazebo (printed only once in a while):e 2 header.stamp.sec: 15346e , header.stamp.nsec: 0e $ temperature: nane  salinity: nane , density: 1025.000000e values[0]: nane F (some fields omitted in printout)u tReceived state from Gazebo (printed only once in a while):u 2 header.stamp.sec: 15347u , header.stamp.nsec: 0u $ temperature: nanu  salinity: nanu , density: 1025.000000u values[0]: nanu F (some fields omitted in printout)r=K~,,AAQ@AQ29L@AQh~? AA.%"AANA"AZAbAjArAzAAA{zݖI@AHE`uAJξAAA6GA3A q?A >APi}*AI(=2A{E;:A +BAI(=JA{E;RA +xI٘i)I9Y J JJJJ&K Yy)7ŧ7Z9)\\\\\\ ) )γ*FFF]b:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15348, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15349=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15350E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15351M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15352E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)a)a]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15353], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15354], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15355], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15356U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)e tReceived state from Gazebo (printed only once in a while):m 2 header.stamp.sec: 15357m , header.stamp.nsec: 0m $ temperature: nanm  salinity: nanm , density: 1025.000000m values[0]: nanm F (some fields omitted in printout)m tReceived state from Gazebo (printed only once in a while):m 2 header.stamp.sec: 15358m , header.stamp.nsec: 0m $ temperature: nanm  salinity: nanm , density: 1025.000000m values[0]: nanm F (some fields omitted in printout)u tReceived state from Gazebo (printed only once in a while):u 2 header.stamp.sec: 15359u , header.stamp.nsec: 0u $ temperature: nanu  salinity: nanu , density: 1025.000000u values[0]: nanu F (some fields omitted in printout)@K>K~,]m,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000482 time: 1743041504.084901F (some fields omitted in printout)A{G@AK(M@ANwh~? AA%"AANA"AZAbAjArAzAAAǟiI@AcuAФξAլA낽AZA?ADAh6*AH%=2A::A(BAH%=JA:RA(٘i)I9ξY J7JJJJ&K Yy{7j79)\\\\\\ ) )X*FFF]C:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15360, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15361=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15362], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15363U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15364M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15365U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15366], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15367], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)q)q]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15368], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)} tReceived state from Gazebo (printed only once in a while):} 2 header.stamp.sec: 15369} , header.stamp.nsec: 0} $ temperature: nan}  salinity: nan} , density: 1025.000000} values[0]: nan} F (some fields omitted in printout)} tReceived state from Gazebo (printed only once in a while):} 2 header.stamp.sec: 15370} , header.stamp.nsec: 0} $ temperature: nan}  salinity: nan} , density: 1025.000000} values[0]: nan} F (some fields omitted in printout)m tReceived state from Gazebo (printed only once in a while):m 2 header.stamp.sec: 15371m , header.stamp.nsec: 0m $ temperature: nanm  salinity: nanm , density: 1025.000000m values[0]: nanm F (some fields omitted in printout)e>K~,,AA(@A$\M@Ah~? AA2%"AA+NA"AZAbAjArAzAAA$p0J@A fuALξAS$<A+AmA Q?A`@;AO(*Aݰ!=2AnH::A(BAݰ!=JAnH:RA(wI٘i)I9ξY JJJJJ&K YyZ7SI79)\\\\\\ ) )*FFF]:&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 15372&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15373E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15374M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15375U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15376U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15377e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15378], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15379e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15380e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)e tReceived state from Gazebo (printed only once in a while):e 2 header.stamp.sec: 15381e , header.stamp.nsec: 0e $ temperature: nane  salinity: nane , density: 1025.000000e values[0]: nane F (some fields omitted in printout)} tReceived state from Gazebo (printed only once in a while):} 2 header.stamp.sec: 15382} , header.stamp.nsec: 0} $ temperature: nan}  salinity: nan} , density: 1025.000000} values[0]: nan} F (some fields omitted in printout)Ձ )ց } tReceived state from Gazebo (printed only once in a while):} 2 header.stamp.sec: 15383} , header.stamp.nsec: 0} $ temperature: nan}  salinity: nan} , density: 1025.000000} values[0]: nan} F (some fields omitted in printout) >K~,f8,AA @A ]lZM@A-h~? AqA%"AAbNA"AZAbAjArAzAAAwuFJ@Ak.iuA#ξAĻA*CAm"ALQ?AڎAM*As=2A=::A>"BAs=JA=:RA>"Yͳ@yB,3ŻٓH`V??Dۿ ??qe?fx@?)ͳ@ IvI٘i)I9Y JL6JJJJ&KQϼ  9Y 9yŧ77y9)\\\\\\ ) )γ*FFF]:"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 15384", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15385E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15386M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15387M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15388M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15389], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15390e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15391e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 15392u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)u tReceived state from Gazebo (printed only once in a while):u 2 header.stamp.sec: 15393u , header.stamp.nsec: 0u $ temperature: nanu  salinity: nanu , density: 1025.000000u values[0]: nanu F (some fields omitted in printout)m tReceived state from Gazebo (printed only once in a while):m 2 header.stamp.sec: 15394m , header.stamp.nsec: 0m $ temperature: nanm  salinity: nanm , density: 1025.000000m values[0]: nanm F (some fields omitted in printout)u tReceived state from Gazebo (printed only once in a while):u 2 header.stamp.sec: 15395u , header.stamp.nsec: 0u $ temperature: nanu  salinity: nanu , density: 1025.000000u values[0]: nanu F (some fields omitted in printout)*Y>K~, elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000342 time: 1743041505.285049F (some fields omitted in printout)Ap= @AM@Ah~? A#Adu%"AANA"AZAbAjArAzAAAf|J@AO%luAA厼AAYA)?AAsA6*Ao=2A::ABAo=JA:RAuI٘i)I9Y JJJJ&K Yy77.9)\\\\\\cDone Waiting.1 c8Uninitialize Wait Component. ) )*FFF]:&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 15396&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15397U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)a)aMtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15398M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15399], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15400m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15401, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15402, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15403, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 15404u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)u tReceived state from Gazebo (printed only once in a while):u 2 header.stamp.sec: 15405u , header.stamp.nsec: 0u $ temperature: nanu  salinity: nanu , density: 1025.000000u values[0]: nanu F (some fields omitted in printout)u tReceived state from Gazebo (printed only once in a while):u 2 header.stamp.sec: 15406u , header.stamp.nsec: 0u $ temperature: nanu  salinity: nanu , density: 1025.000000u values[0]: nanu F (some fields omitted in printout)u tReceived state from Gazebo (printed only once in a while):u 2 header.stamp.sec: 15407u , header.stamp.nsec: 0u $ temperature: nanu  salinity: nanu , density: 1025.000000u values[0]: nanu F (some fields omitted in printout)s>K~,gk,AA(\@AM@Ai~? AA%"AÄ́NA"AZAbAjArAzAAAEnJ@AƀefouA ξAp<AXAbA?AWA*Ax=2A]::ABAx=JA]:RAY8@iy1UB-h<ٓH:??`6Y@ۿ?s?g?@#? W?)8@ I٘i)I9Y J5<JKJJJ&KE Yy9)\\\\\\12 dJAggregate::initialize Default:CheckInq2 ) )*FFF]:*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 15408*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15409M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15410U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15411], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15412U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)q)qetReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15413e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15414e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15415e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15416m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)} tReceived state from Gazebo (printed only once in a while):} 2 header.stamp.sec: 15417} , header.stamp.nsec: 0} $ temperature: nan}  salinity: nan} , density: 1025.000000} values[0]: nan} F (some fields omitted in printout)} tReceived state from Gazebo (printed only once in a while):} 2 header.stamp.sec: 15418} , header.stamp.nsec: 0} $ temperature: nan}  salinity: nan} , density: 1025.000000} values[0]: nan} F (some fields omitted in printout)u tReceived state from Gazebo (printed only once in a while):u 2 header.stamp.sec: 15419u , header.stamp.nsec: 0u $ temperature: nanu  salinity: nanu , density: 1025.000000u values[0]: nanu F (some fields omitted in printout)SL!>K~,q,AA@A(N@A~*i~? AWA%"AANA"AZAbAjArAzAAAJC'IJ@A5X.PruA)ξAm<AIASA =?A LA*5*A=2A::ABA=JA:RAtI٘i)I9Y J L=JJJJ&K Yyb7b79)*a code=0BB0 owner=00C9 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 d\Initialize ReadDataComponent to sense time_fix\\\\\\ ) )ֳ*FFF]S:&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 15420&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15421M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15422], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15423U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15424], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15425], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15426m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15427m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)Ձ)ցutReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 15428u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)u tReceived state from Gazebo (printed only once in a while):u 2 header.stamp.sec: 15429u , header.stamp.nsec: 0u $ temperature: nanu  salinity: nanu , density: 1025.000000u values[0]: nanu F (some fields omitted in printout)u tReceived state from Gazebo (printed only once in a while):u 2 header.stamp.sec: 15430u , header.stamp.nsec: 0u $ temperature: nanu  salinity: nanu , density: 1025.000000u values[0]: nanu F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15431 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) g'>K~,g ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000492 time: 1743041506.485254F (some fields omitted in printout)A#@A"\N@A*Li~? A Ab%"AA4NA"AZAbAjArAzAAA|UK@A8:uuASξAAJAycA?AAA 3*A{=2A::AnBA{=JA:RAnY@yDۢٓH? +?<` ܿ`?@Y?e?`hP@?)@ IsI٘i)I9Y JQJL8JJJ&K: Yy{7{7M9)\\\\\\ ) )г*FFF]z:*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 15432*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15433U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15434U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15435U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15436e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15437e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15438m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15439e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 15440u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)} tReceived state from Gazebo (printed only once in a while):} 2 header.stamp.sec: 15441} , header.stamp.nsec: 0} $ temperature: nan}  salinity: nan} , density: 1025.000000} values[0]: nan} F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15442 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)Ց )֑  tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15443 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)ā->K~,즸,AA)@Ab1ZN@ANmi~? AMA %"AAfNA"AZAbAjArAzAAA\`KK@Ab*wuAξAďA;AnAA e?AԌAv3*A:=2Aa::ABA:=JAa:RAY!n@}ymA;ٓH?8?"@,ܿ@y???j? 1h??)!n@ IrI٘i)I9ξY J7JPJJJ&K Yy7777 9)\\\\\\ ) ) *FFF]l:.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 15444., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15445U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15446], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15447e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15448e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15449e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15450m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15451}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15452}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)u tReceived state from Gazebo (printed only once in a while):u 2 header.stamp.sec: 15453u , header.stamp.nsec: 0u $ temperature: nanu  salinity: nanu , density: 1025.000000u values[0]: nanu F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15454 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15455 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)9Z4>K~,cA,AA/@A7ُN@Aҍi~? AA%"AANA"AZAbAjArAzAAA+|K@A+exzuAKξA`<A2^A'|A G?A@h? O?@?)[@ I٘i)I9ξY JJ8JJJ&K Yy77 9)\\\\\\ ) )*FFF]\:*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 15456*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15457U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)i)imtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15458m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15459m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15460], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15461m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15462}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15463}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 15464u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)u tReceived state from Gazebo (printed only once in a while):u 2 header.stamp.sec: 15465u , header.stamp.nsec: 0} $ temperature: nan}  salinity: nan} , density: 1025.000000} values[0]: nan} F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15466 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15467 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)t:>K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000652 time: 1743041507.685395F (some fields omitted in printout)Aףp=5@AI~N@Ai~? A AZ%"AADžNA"AZAbAjArAzAAAu*K@AX}uA=ξA['[A0mATA@?A#AVBt*A|7 =2A@::A BA|7 =JA@:RA qI٘i)I9Y J5JJJJ&K Yy7777k 9)\\\\\\ ) )*FFF]l:2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 154682, header.stamp.nsec: 02$ temperature: nan2 salinity: nan2, density: 1025.0000002 values[0]: nan2F (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15469U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15470e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15471m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15472m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)Ձ)ցmtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15473m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 15474u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15475}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 15476u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15477 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15478 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15479 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)jMA>K~,qv,AA;@A(O@Ai~? AVA%"AANA"AZAbAjArAzAAAPXK@AuAξA A}AA `?A6ȋA6*A-=2A>::A BA-=JA>:RA Y9@^K~,,AAzA@Aw*\O@Ai~? AA%"AA8%NA"AZAbAjArAzAAA4V> L@A+RuAAξA*@<AuAӸA`6՞?A eA4H*A=2Av::Aj BA=JAv:RAj oI٘i)I9ξY J JJJJ&K Yy)7ŧ79)\\\\\\ ) ) *FFF]=:.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 15492., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15493e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15494e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15495e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15496e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 15497u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15498}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15499}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15500, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15501 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15502 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)ա )֡  tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15503 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)قM>K~,u8,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000602 time: 1743041508.885551F (some fields omitted in printout)A(\G@AneO@A j~? A#A\%"AARNA"AZAbAjArAzAAA)c8L@A~LބuA#ξAOAA8dA 0J?A ACo*AYP=2A::A"BAYP=JA:RA"٘i)I9Y J6JJJJ&K Yy7779)\\\\\\ ) ))*FFF]g:2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 155042, header.stamp.nsec: 02$ temperature: nan2 salinity: nan2, density: 1025.0000002 values[0]: nan2F (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15505e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15506m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 15507u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 15508u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15509}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 15510u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15511}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15512, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15513 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15514 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15515 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)U[T>K~, FR,AA(\M@A$O@A'j~? A'A %"AAwNA"AZAbAjArAzAAA+zeL@A㷐duA<ξAAA&A Ý?AϊAm6*A*=2A::A)BA*=JA:RA)nI٘i)I9Y JJJJJ&K Yyŧ7b7?9)\\\\\\ ) ),*FFF]l:6tReceived state from Gazebo (printed only once in a while):62 header.stamp.sec: 155166, header.stamp.nsec: 06$ temperature: nan6 salinity: nan6, density: 1025.0000006 values[0]: nan6F (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15517m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)y)ymtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15518m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15519}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 15520u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15521}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15522, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15523, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15524, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15525 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15526 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15527 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)vZ>K~,nk,AAQS@ArSO@ADj~? A+Aѷ%"AANA"AZAbAjArAzAAA{5QL@AOuAξAG<AIAq A(E?ArAn*A=2AdӾ::A0BA=JAdӾ:RA0mI٘i)I9Y Jf6JJJJ&K Yy7779)\\\\\\ ) )FFF]H:6tReceived state from Gazebo (printed only once in a while):62 header.stamp.sec: 155286, header.stamp.nsec: 06$ temperature: nan6 salinity: nan6, density: 1025.0000006 values[0]: nan6F (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15529m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15530}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15531m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15532}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)Չ)։tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15533, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15534}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15535, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15536, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15537 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15538 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15539 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)~Na>K~,z,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000652 time: 1743041510.085722F (some fields omitted in printout)AQY@ALp)P@Aaj~? A0Af%"AAֆNA"AZAbAjArAzAAAkٽL@A:.O\uA2ξA.<A晃A"A`>Ȝ?A@P&A5*A<2A7-::AnBA<JA7-:RAnlI٘i)I9Y J3JJJJ&K Yy779)\\\\\\ ) )B*FFF]c:2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 155402, header.stamp.nsec: 02$ temperature: nan2 salinity: nan2, density: 1025.0000002 values[0]: nan2F (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 15541u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 15542u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 15543u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15544}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15545}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15546, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15547, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)ՙ)֙tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15548, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15549 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15550 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)5ig>K~,w,AAq= c_@Ao;2\P@A|j~? A3A%"AANA"AZAbAjArAzAAAL@AuA$ξATAA\bA&V?A`㉿A*Ao<2Aк::ABAo<JAк:RA٘i)I9Y R,A|j~?3KXB@,/|^hGPS fix at 20250327T021150: (36.694030, -121.940428)IiJ 5JJJJ&K E  9F E  B E  Y-B E  y[v)@ A  ; ;4Y|j~? ;4y3 ?i 878>g;4VB)%BREUFix residual: 0.7 %DT, over the last 10040.0 m. Residual distance 70.1 m at bearing 151.7 degrees. Fix at (36.6940, -121.9404) with 96.0 m made good.q22\\\\\\ ) );*FFF]):tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15551, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15552M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15553M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15554U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15555], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15556e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15557e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 15558u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15559m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)u tReceived state from Gazebo (printed only once in a while):u 2 header.stamp.sec: 15560u , header.stamp.nsec: 0u $ temperature: nanu  salinity: nanu , density: 1025.000000u values[0]: nanu F (some fields omitted in printout)u tReceived state from Gazebo (printed only once in a while):u 2 header.stamp.sec: 15561u , header.stamp.nsec: 0u $ temperature: nanu  salinity: nanu , density: 1025.000000u values[0]: nanu F (some fields omitted in printout)խ |j~?)֭ 3} tReceived state from Gazebo (printed only once in a while):} 2 header.stamp.sec: 15562} , header.stamp.nsec: 0} $ temperature: nan}  salinity: nan} , density: 1025.000000} values[0]: nan} F (some fields omitted in printout)m>K~,,AALe@AshP@Alj~? A7A3μ%"AA(NA"AZAbAjArAzAAAEҀM@Ab#uALξAAᢃAGAF?A`AAT45*Ah<2A5I::ArqBAh<JA5I:RArqYȲ@6LyeٓH^?s?Tݿ`|g?#P?p?0u?)Ȳ@ IkI٘i)I9Y JGJ%JJJ&K4 I4Y I4y ?{7{7I4)*a code=0BB1 owner=00CA element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 ezInitialize ReadDataComponent to sense platform_communications\\\\\\ ) )I*FFF] ;.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 15563., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15564U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15565], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15566], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15567], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15568U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15569U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15570], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15571], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15572] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15573] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 15574U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)b\t>K~,sJ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000582 time: 1743041511.285864F (some fields omitted in printout)A ףp}k@AFžP@Aj~? A;A}%"AARNA"AZAbAjArAzAAAz5^L:M@A*f|uA+ξAm5{<A©AAn?AHAOn*AX<2A~::ATBAX<JA~:RATjI٘i)I9Y )J$6JJJJ&K V4Y V4y ?)7ŧ7HV4)\\\\\tReceived state from Gazebo (printed only once in a while):\2 header.stamp.sec: 15575, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) ) )T*FFF]p:~tReceived state from Gazebo (printed only once in a while):~2 header.stamp.sec: 15576~, header.stamp.nsec: 0~$ temperature: nan~ salinity: nan~, density: 1025.000000~ values[0]: nan~F (some fields omitted in printout)Չ)։tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15577, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15578, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15579, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15580, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15581, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15582, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15583 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15584 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15585 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15586 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)- tReceived state from Gazebo (printed only once in a while):- 2 header.stamp.sec: 15587- , header.stamp.nsec: 0- $ temperature: nan-  salinity: nan- , density: 1025.000000- values[0]: nan- F (some fields omitted in printout)wz>K~, ,AAQq@Af,P@Aj~? A?A/%"AAq{NA"AZAbAjArAzAAA-\QcM@A^NrەuA&ξA@[;A#A1A?A wA}*AK<2A::AGBAK<JA:RAGiI٘i)I9Y .No messages in MT queueJ4I=JQ>JJJ&K>  d4Y d4y ?77Vd4)\\\\\\ ) )P*FFF];ztReceived state from Gazebo (printed only once in a while):z2 header.stamp.sec: 15588z, header.stamp.nsec: 0z$ temperature: nanz salinity: nanz, density: 1025.000000z values[0]: nanzF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15589, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15590, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15591, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)ՙ)֙tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15592, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15593, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15594, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15595 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15596 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15597 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15598 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15599 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)O>K~,,AABQw@ABJD+Q@AB7j~? ABeCABm%"AABfNA"A@ZA@bA@jA@rA@zA@A@ABRM@ABQsj0uABFξAB#ŒABȲABmAB?AB`ɈAB&w"6*AB<2ABT::ABBAB<JABT:RAB@@٘@i@)@I@9@Y@ @JBBG=J@QB>J@J@J@&K@B> @ Br4Y@ Br4y@@@@ B?@Bb7Bb7B_r4@)@@\@\@\@\@\@\@ @@@@)@ @)@@B_*F@F@F@]B<MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15600M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15601e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15602e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15603m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15604m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15605m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15606m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)թ)֩}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15607}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15608 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)} tReceived state from Gazebo (printed only once in a while):} 2 header.stamp.sec: 15609} , header.stamp.nsec: 0} $ temperature: nan}  salinity: nan} , density: 1025.000000} values[0]: nan} F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15610 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)Fj>K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000312 time: 1743041512.486040F (some fields omitted in printout)A@}@A;\Q@A&k~? AGA0%"AAȇNA"AZAbAjArAzAAAKM@AޟeuAξAAA[IA0?A Av6*A<2A5::ABA<JA5:RAYӋ@yHٓH9B?`:? u/ݿ@UO?-v?!s?bQ|?)Ӌ@ IhI٘i)I9Y J6U=JĸQ>JJJ&K> 4Y 4y ?j7Z74)\\\\\\ ) )b*FFF]':2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 156112, header.stamp.nsec: 02$ temperature: nan2 salinity: nan2, density: 1025.0000002 values[0]: nan2F (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15612m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15613}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15614, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15615, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15616, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15617, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15618, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15619, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15620 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15621 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)չ )ֹ  tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15622 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)>K~,8,AA33333@ARrQ@Ak~? AJAP%"AApNA"AZAbAjArAzAAAT M@AiuA?ξAj<A7AEoA`bΙ?A=;Ad,*AW<2Ą::ASkBAW<JĄ:RASkY}@y겈<ٓHT;?@?PݿeM?yI?is? ? ?)}@ IgI٘i)I9Y )JvL=JE4Q>JJJ&K> 4Y 4y ?774)\\\\\\ ) )e*FFF]2:>tReceived state from Gazebo (printed only once in a while):>2 header.stamp.sec: 15623>, header.stamp.nsec: 0>$ temperature: nan> salinity: nan>, density: 1025.000000> values[0]: nan>F (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15624}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15625}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15626}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15627, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15628, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15629, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15630, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15631, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15632 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15633 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15634 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)w]>K~,NR,AA)\5@A2Q@A 5k~? ApNA%"AANA"AZAbAjArAzAAAt~%pM@ALj[uA'ξA?ѺAARAj?AAN*Ah)<2A::ABAh)<JA:RA溙fI٘i)I9Y J5JJJJ&K  4Y 4y ?ŧ7ŧ7[4)\\\\\\ ) )g*FFF]:>tReceived state from Gazebo (printed only once in a while):>2 header.stamp.sec: 15635>, header.stamp.nsec: 0>$ temperature: nan> salinity: nan>, density: 1025.000000> values[0]: nan>F (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15636}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)Ց)֑tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15637, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15638, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 15639u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15640}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15641, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15642, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15643, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15644 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15645 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15646 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)/x>K~,k,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000602 time: 1743041513.686214F (some fields omitted in printout)A33333@AQ@AMk~? ARA%"AAF;NA"AZAbAjArAzAAAy8$N@A_<*uA;ξA؀AAP<A ?A`ȇArY6*Ae<2A::ABAe<JA:RAYJa@ycٓHZ.?`'? =@3 ޿`8?q?s?` ?)Ja@ I٘i)I9Y J:ȵM=JadJJJ&K 4Y 4y ?S77P4)\\\\\\ ) )i*FFF]L:BtReceived state from Gazebo (printed only once in a while):B2 header.stamp.sec: 15647B, header.stamp.nsec: 0B$ temperature: nanB salinity: nanB, density: 1025.000000B values[0]: nanBF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15648, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15649, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15650, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15651, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)թ)֩tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15652, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15653, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15654, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15655, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15656 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15657 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15658 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)P>K~,,AA)\5@A~)R@Afk~? AUAt%"AAl`NA"AZAbAjArAzAAA]לIN@A@vbuAξAp58<AwAo?A ?AAB*A <2A::AGBA <JA:RAG⺙eI٘i)I9Y J.6L=JJJJ&K  4Y 4y ?)7ŧ7$4)\\\\\\ ) )j*FFF]i::tReceived state from Gazebo (printed only once in a while)::2 header.stamp.sec: 15659:, header.stamp.nsec: 0:$ temperature: nan: salinity: nan:, density: 1025.000000: values[0]: nan:F (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15660}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15661}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15662, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15663, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15664, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15665, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)չ)ֹtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15666, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15667 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15668 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)bk>K~,,AAHzn@A#bJ\R@A{k~? AXAk6%"AAANA"AZAbAjArAzAAAqiN@AZlKuAξAۚAAUcA`?APA#5*Aj~<2A::AݺBAj~<JA:RAݺdI٘i)I9ξY J6JJJJ&K 4Y 4y ?77a4)\\\\\\ ) )k*FFF]P:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15669, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15670, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15671, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15672, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15673, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15674, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15675, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15676, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15677, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15678, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15679 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15680 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) )  tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15681 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)>K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000492 time: 1743041514.886382F (some fields omitted in printout)AQŠ@A}sR@Ak~? A\A<%"AAcNA"AZAbAjArAzAAA0tN@AuA(ξA;AA*A@?A(A,3*Aw<2A\f::AoMۺBAw<JA\f:RAoMۺcI٘i)I9ξY JQJJJJ&K  4Y 4y ?b77̨4)\\\\\\ ) )i*FFF]`:2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 156822, header.stamp.nsec: 02$ temperature: nan2 salinity: nan2, density: 1025.0000002 values[0]: nan2F (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15683], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15684M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15685=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15686-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15687, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15688 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15689, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15690, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15691, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15692 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15693 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15694 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)^>K~,S,AA33333@AʧǶR@ALk~? Ah`AƟ%"AA|̈NA"AZAbAjArAzAAAfBN@A'uAξA :ALAKA`Ψ?A@ӆA4*A{<2A`M::AS غBA{<JA`M:RAS غY*@#yCq:ٓH@}?@K~,,AAQ@A*R@Ak~? AdAdV%"AAbNA"AZAbAjArAzAAA^N@A& #uA'ξAg:A﵃AA@fQ?A@Aλ*A<2A2::AպBA<JA2:RAպbI٘i)I9ξY JGJJJJ&K  4Y 4y @77u4)\\\\\\ ) )i*FFF]:ftReceived state from Gazebo (printed only once in a while):f2 header.stamp.sec: 15708f, header.stamp.nsec: 0f$ temperature: nanf salinity: nanf, density: 1025.000000f values[0]: nanfF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15709, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15710, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15711, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15712, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)ձ)ֱtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15713, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 15714}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 15715u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15716e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 15717U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 15718U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)= tReceived state from Gazebo (printed only once in a while):= 2 header.stamp.sec: 15719= , header.stamp.nsec: 0= $ temperature: nan=  salinity: nan= , density: 1025.000000= values[0]: nan= F (some fields omitted in printout)Q>K~,,AtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15720, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)vPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000522 time: 1743041516.086545F (some fields omitted in printout)A(\@Af()S@Ak~? AgA %"AANA"AZAbAjArAzAAAp5CO@AkuAξAd;A`AA?A&[A*Af<2AC::AӺBAf<JAC:RAӺaI٘i)I9Y J 6JJJJ&K  4Y 4y @b7b7WH4)\\\\\\ ) )l*FFF]:~tReceived state from Gazebo (printed only once in a while):~2 header.stamp.sec: 15721~, header.stamp.nsec: 0~$ temperature: nan~ salinity: nan~, density: 1025.000000~ values[0]: nan~F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15722, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15723, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15724, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15725, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15726, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15727, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout))tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15728, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15729, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15730 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15731 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15732 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)xl>K~,%#,AA(\B@A˝`\S@Ak~? A`kAĸ%"AA+:NA"AZAbAjArAzAAA[$O@A՗uA'ξAVz&AUA{[A@y?A/%AeY*A<2Al'::ALϺBA<JAl':RALϺY\@:[yWA:ٓH? q? %޿?),?@s?@?@?)\@ I`I٘i)I9Y JJr6JJJ&KM  4Y 4y  @77j4)\\\\\\ ) )j*FFF]:2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 157332, header.stamp.nsec: 02$ temperature: nan2 salinity: nan2, density: 1025.0000002 values[0]: nan2F (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15734m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15735U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15736M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15737=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15738-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 157395, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 15740%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15741, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15742 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15743 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) )  tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15744 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15745 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)/>K~,8,AA Q@A /gS@A Ll~? A nA /~%"AA .]NA"AZAbAjArAzAAA L*GO@A (鮿uA ξA 尻A UA A `X?A A {56*A <2A ̕::A )f˺BA <JA ̕:RA )f˺ _I٘i)I9Y J 6J Q >JJJ&K  >   4Y  4y  @ ŧ7 b7 _4 aB)\\\\\\ ) ) l*FFF] ;ntReceived state from Gazebo (printed only once in a while):n2 header.stamp.sec: 15746n, header.stamp.nsec: 0n$ temperature: nann salinity: nann, density: 1025.000000n values[0]: nannF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15747, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15748, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15749, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15750, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15751, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15752, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15753, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15754, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15755 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15756 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)} tReceived state from Gazebo (printed only once in a while):} 2 header.stamp.sec: 15757} , header.stamp.nsec: 0} $ temperature: nan}  salinity: nan} , density: 1025.000000} values[0]: nan} F (some fields omitted in printout)_>K~,2XR,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000242 time: 1743041517.286734F (some fields omitted in printout)AQ@APS@A%l~? AtrA]7%"AA5NA"AZAbAjArAzAAAkO@AuA,ξA;AFA0A ?A@A(]5*A<2A::AשʺBA<JA:RAשʺ٘i)I9Y J/M=JQ>JJJ&K>  4Y 4y @{7j7R4)0B\\\\\\ ) )j*FFF]:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15758, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15759-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)ձ)ֱtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15760, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15761 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15762 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15763, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15764, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15765 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15766, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15767 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15768 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15769 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15770 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)`z>K~,k,AAףp= @AwS@A;l~? AuA4%"AAȡNA"AZAbAjArAzAAAˌO@AfluA1ξAr\AAAϾ?A݇A/P6*Ae<2A ْ::AźBAe<JA ْ:RAź^I٘i)I9Y JǴL=JQ>JJJ&K>  4Y 4y @H4)\\\\\\ ) )k*FFF]:btReceived state from Gazebo (printed only once in a while):b2 header.stamp.sec: 15771b, header.stamp.nsec: 0b$ temperature: nanb salinity: nanb, density: 1025.000000b values[0]: nanbF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15772, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15773, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15774, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15775, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout))tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15776, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15777, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15778, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15779, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15780 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15781 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15782 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)R>K~,q,AA(\B@A~$)T@AQl~? AGyA$%"AA.ÉNA"AZAbAjArAzAAAT׫cO@A(*uABξAL{<AAA@w?AYKAr|*A<2A::A>ǺBA<JA:RA>Ǻ]I٘i)I9Y J,M=JJJJ&K 4Y 4y "@)7ŧ7h4)\\\\\\ ) )FFF]T:6tReceived state from Gazebo (printed only once in a while):62 header.stamp.sec: 157836, header.stamp.nsec: 06$ temperature: nan6 salinity: nan6, density: 1025.0000006 values[0]: nan6F (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15784e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15785, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15786, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15787, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15788, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15789, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15790, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout))tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15791, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15792 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15793 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15794 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)m>K~,',AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000652 time: 1743041518.486914F (some fields omitted in printout)Ap= @A˚X\T@A|fl~? Ar|Ao%"AANA"AZAbAjArAzAAAs {O@A*uA)ξAll;A9A#GA3?A@Ai4*AQ<2A뚍::AúBAQ<JA뚍:RAú\I٘i)I9Y J5L=JJJJ&K 4Y 4y '@b77<4bB)\\\\\\ ) )FFF]B:jtReceived state from Gazebo (printed only once in a while):j2 header.stamp.sec: 15795j, header.stamp.nsec: 0j$ temperature: nanj salinity: nanj, density: 1025.000000j values[0]: nanjF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15796, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15797, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15798, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15799, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15800, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15801, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15802, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15803, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15804 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15805 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) )  tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15806 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)P>K~,a¸,AAq= #@A:VT@A{l~? AA.%"AANA"AZAbAjArAzAAAXO@A?BuA=ξAepAjADA?A A6*A<2Aʍ::ABA<JAʍ:RA٘i)I9Y JǵJJJJ&K  4Y 4y ,@774)\\\\\\ ) )l*FFF]v:NtReceived state from Gazebo (printed only once in a while):N2 header.stamp.sec: 15807N, header.stamp.nsec: 0N$ temperature: nanN salinity: nanN, density: 1025.000000N values[0]: nanNF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15808, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15809, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15810, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15811, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15812, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15813, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15814, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15815, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15816 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15817 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 15818 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)`>K~,\,AAQ@AT@Al~? A傮A4%"AA NA"AZAbAjArAzAAAKh4:P@AuAξA;A\AA⮔?A>ASz*Ad<2AL::AbBAd<JAL:RAb[I٘i)I9Y J[6JJJJ&K  4Y 4y 2@{7{764)\\\\\\ ) )m*FFF]:NtReceived state from Gazebo (printed only once in a while):N2 header.stamp.sec: 15819N, header.stamp.nsec: 0N$ temperature: nanN salinity: nanR, density: 1025.000000R values[0]: nanRF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15820, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)չ)ֹtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15821, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15822m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15823, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15824, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15825, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)E tReceived state from Gazebo (printed only once in a while):E 2 header.stamp.sec: 15826E , header.stamp.nsec: 0E $ temperature: nanE  salinity: nanE , density: 1025.000000E values[0]: nanE F (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15827] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)e tReceived state from Gazebo (printed only once in a while):e 2 header.stamp.sec: 15828e , header.stamp.nsec: 0e $ temperature: nane  salinity: nane , density: 1025.000000e values[0]: nane F (some fields omitted in printout){{>K~,U,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000662 time: 1743041519.687062F (some fields omitted in printout)Aq= c@Al#T@Al~? AA%"AA;NA"AZAbAjArAzAAAQ5P@A" ƦuAξAAAlAu?AŚAx5*A1<2Aw::AϻBA1<JAw:RAϻZI٘i)I9Y J3H5M=JJJJ&K 4Y 4y 7@ŧ77ݶ4)\\\\\\ ) )FFF]:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15829, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 158305, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15831=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15832=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15833E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout))]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15834], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15835], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15836e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15837], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15838] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 15839U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)M tReceived state from Gazebo (printed only once in a while):M 2 header.stamp.sec: 15840M , header.stamp.nsec: 0M $ temperature: nanM  salinity: nanM , density: 1025.000000M values[0]: nanM F (some fields omitted in printout)S?K~,Ց,AAHzn@A-)U@A)l~? A܈A=x%"AA)ZNA"AZAbAjArAzAAA4!#P@AYuAAξA2e<A3AGA7?AhAf4*A@<2A[::ABA@<JA[:RAYI٘i)I9Y JL=JJJJ&K 5Y 5y <@77c5)\\\\\\ ) )l*FFF]*:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15841, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 15842%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 158435, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15844-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 158455, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15846E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15847E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15848E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout))etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15849e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15850] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15851] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)M tReceived state from Gazebo (printed only once in a while):M 2 header.stamp.sec: 15852M , header.stamp.nsec: 0M $ temperature: nanM  salinity: nanM , density: 1025.000000M values[0]: nanM F (some fields omitted in printout)n?K~,b,,AA= ףp@A1(h\U@Al~? AA9%"AA+xNA"AZAbAjArAzAAA=kC:2P@A$+EuA4ξAmjAAAA@?AECA9*A1<2A ::An BA1<JA :RAn ٘i)I9Y J5JJJJ&K  5Y 5y A@b7/5)\\\\\\ ) )k*FFF]Z:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15853, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15854-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15855-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15856e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15857e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15858], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15859U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15860U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15861e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15862] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15863] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout) ) M tReceived state from Gazebo (printed only once in a while):M 2 header.stamp.sec: 15864M , header.stamp.nsec: 0M $ temperature: nanM  salinity: nanM , density: 1025.000000M values[0]: nanM F (some fields omitted in printout)_ ?K~,8,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000512 time: 1743041520.887235F (some fields omitted in printout)A)\u@A?QU@Al~? AA%"AANA"AZAbAjArAzAAA> ++AP@AduAξAAvApAॼ?AA66*Ap<2Ai::AƷBAp<JAi:RAƷXI٘i)I9Y J6JJJJ&K  5Y 5y F@ŧ7b7p5)\\\\\\ ) )m*FFF]d:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15865, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 15866%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15867, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 158685, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15869-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 158705, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15871=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15872=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15873=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)5 tReceived state from Gazebo (printed only once in a while):5 2 header.stamp.sec: 158745 , header.stamp.nsec: 05 $ temperature: nan5  salinity: nan5 , density: 1025.0000005 values[0]: nan5 F (some fields omitted in printout)5 tReceived state from Gazebo (printed only once in a while):5 2 header.stamp.sec: 158755 , header.stamp.nsec: 05 $ temperature: nan5  salinity: nan5 , density: 1025.0000005 values[0]: nan5 F (some fields omitted in printout)= tReceived state from Gazebo (printed only once in a while):= 2 header.stamp.sec: 15876= , header.stamp.nsec: 0= $ temperature: nan=  salinity: nan= , density: 1025.000000= values[0]: nan= F (some fields omitted in printout)a?K~,_aR,AtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15877, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A(\@ALU@A]l~? A1A%"AA`NA"AZAbAjArAzAAAPP@AO[HuA?ξAl<A軃AA႓?A 僿At*A<2A<::AYBA<JA<:RAYYr@yf)m<ٓH elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000882 time: 1743041522.087401F (some fields omitted in printout)AHzn@A8-:)V@AFm~? A8AE%"AANA"AZAbAjArAzAAAImlP@AuA6ξA*ZAA{A@f?AZA6*AF<2A::A,BAF<JA:RA,٘i)I9Y JJJJJ&K  5Y 5y V@75)\\\\\\ ) )l*FFF]X:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15901, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 15902-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15903=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15904=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 159055, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15906U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15907E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout))etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15908e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15909] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15910] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15911] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)o'?K~,0,AAq= @Ak\V@A[(m~? AA]%"AA<NA"AZAbAjArAzAAAyP@A uA5ξAVAAA kޒ?AwvAWo6*AO<2As::ABAO<JAs:RAUI٘i)I9Y J3JJJJ&K 5Y 5y [@ŧ7b7O@5)\\\\\\ ) )FFF]1:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15912, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15913=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15914E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15915U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15916M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15917], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15918], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15919e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15920e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15921] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)e tReceived state from Gazebo (printed only once in a while):e 2 header.stamp.sec: 15922e , header.stamp.nsec: 0e $ temperature: nane  salinity: nane , density: 1025.000000e values[0]: nane F (some fields omitted in printout) ) e tReceived state from Gazebo (printed only once in a while):e 2 header.stamp.sec: 15923e , header.stamp.nsec: 0e $ temperature: nane  salinity: nane , density: 1025.000000e values[0]: nane F (some fields omitted in printout)j-?K~,2˸,AAQ@A1qV@A:m~? AꝮA8Դ%"AA"NA"AZAbAjArAzAAAO,鷇P@AIpuAξAe<ADAgA?AHA>*A<2ASz::ABA<JASz:RA𭺙TI٘i)I9Y J 6JJJJ&K  5Y 5y `@m5)\\\\\\ ) )m*FFF]i:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 15924, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 15925=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15926E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15927M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15928E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15929U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15930U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15931U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15932U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15933] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 15934] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)m tReceived state from Gazebo (printed only once in a while):m 2 header.stamp.sec: 15935m , header.stamp.nsec: 0m $ temperature: nanm  salinity: nanm , density: 1025.000000m values[0]: nanm F (some fields omitted in printout)b4?K~,e,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000292 time: 1743041523.287535F (some fields omitted in printout)A(@AV@A2Mm~? AܠAu%"AA=NA"AZAbAjArAzAAAa-=eP@AξA TALASA@?A@TAMTm*AF<2Ax::A,BAF<JAx:RA,Y 4@yxXzTٓH? ?  ?@:F?@'t?` _?) 4@ ISI٘i)I9Y JJ^JJJ&K끼 5Y 5y k@77}5)\\\\\\ ) )FFF],:"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 15948", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15949E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 15950E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15951U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15952M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout))MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15953M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15954], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15955], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15956e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)e tReceived state from Gazebo (printed only once in a while):e 2 header.stamp.sec: 15957e , header.stamp.nsec: 0e $ temperature: nane  salinity: nane , density: 1025.000000e values[0]: nane F (some fields omitted in printout)e tReceived state from Gazebo (printed only once in a while):e 2 header.stamp.sec: 15958e , header.stamp.nsec: 0e $ temperature: nane  salinity: nane , density: 1025.000000e values[0]: nane F (some fields omitted in printout)m tReceived state from Gazebo (printed only once in a while):m 2 header.stamp.sec: 15959m , header.stamp.nsec: 0m $ temperature: nanm  salinity: nanm , density: 1025.000000m values[0]: nanm F (some fields omitted in printout)VA?K~,,AAp= +@A-y<)W@ADqm~? AAN%%"AAtNA"AZAbAjArAzAAA%BP@Ag elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000682 time: 1743041524.487717F (some fields omitted in printout)Ap= 1@A[v\W@A m~? AA%"AAݎNA"AZAbAjArAzAAA0blP@ARuA=ξAX<AȻA5Alޑ?AA>*Ar̠<2Aco::AMBAr̠<JAco:RAMQI٘i)I9Y JtJJJJ&K  &5Y &5y u@77Q&5)\\\\\\ ) )FFF]P:"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 15972", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15973], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15974], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15975e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15976e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15977U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15978U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15979], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15980m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)m tReceived state from Gazebo (printed only once in a while):m 2 header.stamp.sec: 15981m , header.stamp.nsec: 0m $ temperature: nanm  salinity: nanm , density: 1025.000000m values[0]: nanm F (some fields omitted in printout)m tReceived state from Gazebo (printed only once in a while):m 2 header.stamp.sec: 15982m , header.stamp.nsec: 0m $ temperature: nanm  salinity: nanm , density: 1025.000000m values[0]: nanm F (some fields omitted in printout) ) } tReceived state from Gazebo (printed only once in a while):} 2 header.stamp.sec: 15983} , header.stamp.nsec: 0} $ temperature: nan}  salinity: nan} , density: 1025.000000} values[0]: nan} F (some fields omitted in printout)}M?K~,8,AA(7@ACVW@Am~? ApA%"AArNA"AZAbAjArAzAAA^PP@AMuA0ξAvAAqAt?A`A,*A3<2A(p::APBA3<JA(p:RAPYS@yyٓH?"2? g5&??`'t?`M?)S@ I٘i)I9Y Jہ5J՟JJJ&Kx  )5Y )5y z@b7)5)\\\\\\ ) )l*FFF]:"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 15984", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15985M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15986M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15987U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 15988U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15989], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 15990e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15991m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 15992m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)e tReceived state from Gazebo (printed only once in a while):e 2 header.stamp.sec: 15993e , header.stamp.nsec: 0e $ temperature: nane  salinity: nane , density: 1025.000000e values[0]: nane F (some fields omitted in printout)} tReceived state from Gazebo (printed only once in a while):} 2 header.stamp.sec: 15994} , header.stamp.nsec: 0} $ temperature: nan}  salinity: nan} , density: 1025.000000} values[0]: nan} F (some fields omitted in printout)u tReceived state from Gazebo (printed only once in a while):u 2 header.stamp.sec: 15995u , header.stamp.nsec: 0u $ temperature: nanu  salinity: nanu , density: 1025.000000u values[0]: nanu F (some fields omitted in printout)cT?K~,+jR,AA(=@A'g(W@Am~? AGAy%"AAËNA"AZAbAjArAzAAACP@A uAξAAaA,A }?AlA'6*A?<2A{In::As1BA?<JA{In:RAs1YR @ yY<ٓH?`:?g@.@ʓ?%G?@Ct?b?)R @ IPI٘i)I9Y J5JJJJ&K H  -5Y -5y @7)7&-5)\\\\\\ ) )m*FFF]:"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 15996", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15997M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout))MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 15998M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 15999], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 16000], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16001, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16002, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16003, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16004, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16005 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16006 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16007 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)~Z?K~,l,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000842 time: 1743041525.687887F (some fields omitted in printout)AQC@A]j~W@ARm~? AAD%"AA!܋NA"A ZA bA jA rA zA A A+LP@AruA ξAE:AAKRAQ?AHAr^-4*A,<2AOj::ABA,<JAOj:RAOI ٘ i ) I 9Y J5K=JQ>JJJ&K>  05Y 05y @b7705)\\\\\\ ) )n*FFF];rtReceived state from Gazebo (printed only once in a while):r2 header.stamp.sec: 16008r, header.stamp.nsec: 0r$ temperature: nanr salinity: nanr, density: 1025.000000r values[0]: nanrF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16009, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16010, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16011, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16012, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout))tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16013, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16014, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16015, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16016 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16017% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16018 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16019% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)Wa?K~,Ӡ,AAQI@Aο)X@A_m~? AA0 %"AANA"AZAbAjArAzAAA8P@AES9^uA;ξA"_F<AwAtA$?An#A4*A.<2Apf::A BA.<JApf:RA NI٘i)I9Y JeL=JQ>JJJ&K>  45Y 45y @77745)\\\\\\ ) )m*FFF];vtReceived state from Gazebo (printed only once in a while):v2 header.stamp.sec: 16020v, header.stamp.nsec: 0v$ temperature: nanv salinity: nanv, density: 1025.000000v values[0]: nanvF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16021, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16022, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16023, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16024, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16025, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16026 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16027 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16028 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16029% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16030% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16031% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)qg?K~,9,AAQO@AJ\X@A>m~? AAղ%"AA;NA"AZAbAjArAzAAA+g(P@Ak`W6uA2ξAAA  A?A`zAڵ*At/<2Ag::A BAt/<JAg:RA ٘i)I9Y J 45JJJJ&K  75Y 75y @)7b7 j75)\\\\\\ ) )l*FFF];rtReceived state from Gazebo (printed only once in a while):r2 header.stamp.sec: 16032r, header.stamp.nsec: 0r$ temperature: nanr salinity: nanr, density: 1025.000000r values[0]: nanrF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16033, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16034, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16035, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16036, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16037, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16038, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16039 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16040 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16041 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16042 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) )  tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16043 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)m?K~,9Ը,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000572 time: 1743041526.888043F (some fields omitted in printout)A QU@A &X@A m~? A EA ݞ%"AA d(NA"AZAbAjArAzAAA n( Q@A { uA ξA 7ѻA LA Z A `ʐ?A 6䁿A &<6*A <2A o$e::A YBA <JA o$e:RA Y MI٘i)I9Y J 6 M=JQ >JJJ&K >   :5Y  :5y  @ b7 7 :5)\\\\\\ ) ) n*FFF] ;jtReceived state from Gazebo (printed only once in a while):j2 header.stamp.sec: 16044j, header.stamp.nsec: 0j$ temperature: nanj salinity: nanj, density: 1025.000000j values[0]: nanjF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16045, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16046, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16047, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16048, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16049 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16050 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16051, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16052 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16053 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16054 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16055 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)et?K~,n,AA Q[@A -X@A zm~? A A Ph%"AA LANA"AZAbAjArAzAAA tR"3Q@A ujuA 7ξA P<A 1A ZY A 預?A WA 5G*A &L<2A ]_::A }BA &L<JA ]_:RA } LI٘i)I9Y J  L=JQ >JJJ&K >   >5Y  >5y  @ 77 77 9>5)\\\\\\ ) ) m*FFF] ;rtReceived state from Gazebo (printed only once in a while):r2 header.stamp.sec: 16056r, header.stamp.nsec: 0r$ temperature: nanr salinity: nanr, density: 1025.000000r values[0]: nanrF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16057, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout))tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16058, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16059, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16060, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16061, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16062, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16063, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16064, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16065 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16066 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16067 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)z?K~,9 ,AA Qa@A (]X@A n~? A A (2%"AA YNA"AZAbAjArAzAAA ؒb$Q@A OuA &ξA oܺA ︃A A u?A IA 95*A b<2A `::A XBA b<JA `:RA X KI٘i)I9Y J ҩ5JJJJ&K   A5Y  A5y  @ 7 #A5)\\\\\\ ) ) l*F F F ]1;jtReceived state from Gazebo (printed only once in a while):j2 header.stamp.sec: 16068j, header.stamp.nsec: 0j$ temperature: nanj salinity: nanj, density: 1025.000000j values[0]: nanjF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16069, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16070, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16071, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16072, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout))-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 16073-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 16074=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)= tReceived state from Gazebo (printed only once in a while):= 2 header.stamp.sec: 16075= , header.stamp.nsec: 0= $ temperature: nan=  salinity: nan= , density: 1025.000000= values[0]: nan= F (some fields omitted in printout)- tReceived state from Gazebo (printed only once in a while):- 2 header.stamp.sec: 16076- , header.stamp.nsec: 0- $ temperature: nan-  salinity: nan- , density: 1025.000000- values[0]: nan- F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16077% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)5 tReceived state from Gazebo (printed only once in a while):5 2 header.stamp.sec: 160785 , header.stamp.nsec: 05 $ temperature: nan5  salinity: nan5 , density: 1025.0000005 values[0]: nan5 F (some fields omitted in printout)6X?K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000502 time: 1743041528.088189F (some fields omitted in printout)AQg@AJ*Y@An~? A3®A%"AAYpNA"AZAbAjArAzAAAV/Q@APݕuA(ξA-sA.A, AO?APA *AӤ<2A^::AߗBAӤ<JA^:RAߗ٘i)I9Y JEJ=JQ>JJJ&K>  E5Y E5y @77{7ZE5)\\\\\\ ) )m*FFF];tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16079, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16080, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16081, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16082, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16083, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16084, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16085, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) ) tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16086, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16087% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16088% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16089 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16090 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)Ks?K~,?,AAQm@Ao]Y@A(n~? AĮAp˱%"AANA"AZAbAjArAzAAAR7. JJJ&K>  H5Y H5y @77{H5)\\\\\\ ) )n*FFF];rtReceived state from Gazebo (printed only once in a while):r2 header.stamp.sec: 16091r, header.stamp.nsec: 0r$ temperature: nanr salinity: nanr, density: 1025.000000r values[0]: nanrF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16092, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16093, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16094, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16095, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16096, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16097, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16098, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16099 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16100 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16101 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) )  tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16102 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)?K~,8,AAQs@AH}Y@A8n~? AǮAg%"AANA"A ZA bA jA rA zA A A&6;HQ@A MuA'ξAr&<AA A?A 0BA-*A<2ALX::AABA<JALX:RAAII ٘ i ) I 9 Y Jp4J Q>J J J &K > K5Y K5y @ 7)7K5)\\\\\\ ) )FFF]y;ntReceived state from Gazebo (printed only once in a while):n2 header.stamp.sec: 16103n, header.stamp.nsec: 0n$ temperature: nann salinity: nann, density: 1025.000000n values[0]: nannF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16104, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16105, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16106, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16107, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16108, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16109, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16110, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16111 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16112 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16113 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16114 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)e?K~,rR,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000222 time: 1743041529.288329F (some fields omitted in printout)AQy@A1znY@AnHn~? A/ʮAa%"AA;NA"AZAbAjArAzAAA`5 TQ@A3luuA(ξA ;AjA1 A`o?A%A4*A<2AVW::AhBA<JAVW:RAhHI٘i)I9Y JL=JQ>JJJ&K>  O5Y O5y @77cOO5)\\\\\\ ) )m*FFF];vtReceived state from Gazebo (printed only once in a while):v2 header.stamp.sec: 16115v, header.stamp.nsec: 0v$ temperature: nanv salinity: nanv, density: 1025.000000v values[0]: nanvF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16116, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout))tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16117, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16118, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16119, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16120, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16121, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16122 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16123 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16124 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16125 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16126 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)?K~, l,AAQ@AinY@AXn~? A̮Aq-%"AAόNA"AZAbAjArAzAAA{/^_Q@A{4˵uA:ξALA.A&u A@a?A@ Ag4*Ac<2AW::AUBAc<JAW:RAU٘i)I9Y JɳJQ>JJJ&K>  R5Y R5y @777R5)\\\\\\ ) )FFF];vtReceived state from Gazebo (printed only once in a while):v2 header.stamp.sec: 16127v, header.stamp.nsec: 0v$ temperature: nanv salinity: nanv, density: 1025.000000v values[0]: nanvF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16128, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16129, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16130, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16131, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) ) tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16132, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16133, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16134, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16135 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16136 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16137 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16138 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)"Y?K~,,AAQ@A >)Z@A|gn~? AkϮA%"AANA"AZAbAjArAzAAAʅ3kQ@Aj uAξAs;AMAy A ?A@耿A-*A( <2AS::ABA( <JAS:RA𑺙GI٘i)I9Y JT>6M=JJJJ&K  V5Y V5y @ŧ7b7P"V5)\\\\\\ ) )n*FFF];B got command quitrtReceived state from Gazebo (printed only once in a while):r2 header.stamp.sec: 16139r, header.stamp.nsec: 0r$ temperature: nanr salinity: nanr, density: 1025.000000r values[0]: nanrF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16140, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16141, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16142, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16143, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16144 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16145, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16146 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16147 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16148 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16149 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)- tReceived state from Gazebo (printed only once in a while):- 2 header.stamp.sec: 16150- , header.stamp.nsec: 0- $ temperature: nan-  salinity: nan- , density: 1025.000000- values[0]: nan- F (some fields omitted in printout)s?K~,B,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000172 time: 1743041530.488476F (some fields omitted in printout)AQ@AdY0]Z@Avn~? AҮAŰ%"AANA"AZAbAjArAzAAAq/wQ@AG?.;uA4ξAV!<AAѨ A Ύ?A@WʀA=O5*A<2AP::APBA<JAP:RAPFI٘i)I9Y JmL=JQ>JJJ&K>  Y5Y Y5y @777Y5)\\\\\\ ) )m*FFF];~tReceived state from Gazebo (printed only once in a while):~2 header.stamp.sec: 16151~, header.stamp.nsec: 0~$ temperature: nan~ salinity: nan~, density: 1025.000000~ values[0]: nan~F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16152, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16153, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16154, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16155, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16156 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16157, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16158, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16159 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16160 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16161% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)) ))  tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16162 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)?K~,ܸ,AAQ@AZ@An~? AԮA%"AANA"AZAbAjArAzAAA¯Q@AauA5ξAn$A-A*@ Aႎ?A局Aᣵ*A<2AlQ::ABA<JAlQ:RAEI٘i)I9Y JJJJJ&K  \5Y \5y @ŧ7b7!\5)\\\\\\ ) )FFF];ztReceived state from Gazebo (printed only once in a while):z2 header.stamp.sec: 16163z, header.stamp.nsec: 0z$ temperature: nanz salinity: nanz, density: 1025.000000z values[0]: nanzF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16164, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16165, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16166, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16167, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16168 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)NXStop Mission called by Supervisor::terminateNUninitializing protected caller thread.JUninitializing the command executive.JUninitializing the command scheduler."Thread cancelled. tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16169 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16170 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16171 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16172% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16173% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)F jUninitializing supervisor and starting cleanup. Bye! LShutting down NavChartDb ThreadHandler( "Thread cancelled.' JJoin timeout helper Thread ID is 5201% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16174% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)g?K~, w,A(NUninitializing protected caller thread.("Thread cancelled.AQ@A4 Z@An~? A"׮A_%"AA+NA"AZAbAjArAzAAA`Q@A]\uAξAQ`ASAj AJJJ&KPShutting down WetLabsBB2FL ThreadHandler>#"Thread cancelled.  `5Y `5y#JJoin timeout helper Thread ID is 5202 @b7d`5)\\\\\\ ) )n*FFF];ztReceived state from Gazebo (printed only once in a while):z2 header.stamp.sec: 16175z, header.stamp.nsec: 0z$ temperature: nanz salinity: nanz, density: 1025.000000z values[0]: nanzF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16176, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) ) tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16177, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16178 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16179, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16180 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16181 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16182, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16183 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16184% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16185% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16186% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)?K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4001032 time: 1743041531.688695F (some fields omitted in printout)Az@AZ@An~? AٮA/-%"AABNA"AZAbAjArAzAAAGaQ@A'uA8ξAOE<AIA&q A?A[tAMߴ*AN<2AK::ABAN<JAK:RADI٘i)I9Y J"I."K=J Q">J J J &K "> "c5Y "c5y "@ ")7 "c5 )  \ \ \ \ \ \ ) ) F F F ]"<tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16187, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16188, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)#mNUninitializing protected caller thread.#m"Thread cancelled.NShutting down CTD_Seabird ThreadHandler""Thread cancelled."JJoin timeout helper Thread ID is 5203tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16189, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16190 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16191, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout))tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16192, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 16193%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16194, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16195 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16196% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16197% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)- tReceived state from Gazebo (printed only once in a while):- 2 header.stamp.sec: 16198- , header.stamp.nsec: 0- $ temperature: nan-  salinity: nan- , density: 1025.000000- values[0]: nan- F (some fields omitted in printout)1Z?K~,,A"NUninitializing protected caller thread.""Thread cancelled.AQ@A#E*[@An~? A1ܮA%"AA4XNA"AZAbAjArAzAAAQ@AruA(ξAAƹA A9?AK\Am*A)<2AK::ABA)<JAK:RACI٘i)I9Y J$5L=JQ>JJJ&K>  g5Y g5y @ŧ7:g5)\\\\\\ ) )m*FFF];"RShutting down TrnDataBridge ThreadHandler""Thread cancelled."JJoin timeout helper Thread ID is 5205tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16199, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16200, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 16201%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16202, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16203, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 16204%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 16205%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 16206%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)-NUninitializing protected caller thread.-"Thread cancelled.=RShutting down Radio_Surface ThreadHandler="Thread cancelled.=JJoin timeout helper Thread ID is 5210% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16207% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)- tReceived state from Gazebo (printed only once in a while):- 2 header.stamp.sec: 16208- , header.stamp.nsec: 0- $ temperature: nan-  salinity: nan- , density: 1025.000000- values[0]: nan- F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16209% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)- tReceived state from Gazebo (printed only once in a while):- 2 header.stamp.sec: 16210- , header.stamp.nsec: 0- $ temperature: nan-  salinity: nan- , density: 1025.000000- values[0]: nan- F (some fields omitted in printout)t?K~,F,A)NUninitializing protected caller thread."Thread cancelled.AQ@AS9][@ABn~? AޮA/ɯ%"AA:nNA"AZAbAjArAzAAA@<^Q@AG"uAAAA}P Ak?A%BAN6*A<2AJ::A툺BA<JAJ:RA툺BI٘i)I9Y JQ>JJJ&K>  j5Y j5y @)7Hj5)\\\\\\ ) )n*FFF];&FShutting down Onboard ThreadHandler&"Thread cancelled.&JJoin timeout helper Thread ID is 5212vtReceived state from Gazebo (printed only once in a while):v2 header.stamp.sec: 16211v, header.stamp.nsec: 0v$ temperature: nanv salinity: nanv, density: 1025.000000v values[0]: nanvF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16212, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16213, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 16214u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 16215], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 162165, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16217, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16218, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16219, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16220 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16221 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16222 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16223 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)?K~,8,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000522 time: 1743041532.888837F (some fields omitted in printout)A(@Aˏ[@A,n~? AmAȒ%"AA1NA"AZAbAjArAzAAAp$Q@A(uA&ξAV:AApo Ap#?AO"A*Ao΄<2A3sG::ABAo΄<JA3sG:RA٘i)I9Y Ja3<JQ>JJJ&K> m5Y m5y @77 m5)\\\\\\ ) )m*FFF]&:RtReceived state from Gazebo (printed only once in a while):R2 header.stamp.sec: 16224R, header.stamp.nsec: 0R$ temperature: nanR salinity: nanR, density: 1025.000000R values[0]: nanRF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16225, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 16226}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 16227}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16228, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16229, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 162305, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout)MtReceived state from Gazebo (printed only once in a while):M2 header.stamp.sec: 16231M, header.stamp.nsec: 0M$ temperature: nanM salinity: nanM, density: 1025.000000M values[0]: nanMF (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 16232U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 16233] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 16234U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)h?K~,{R,AA ףp}@A[@AJJJ&K>  q5Y q5y @77j7[iq5)\\\\\\ ) )n*FFF]Q:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16235, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)vtReceived state from Gazebo (printed only once in a while):v2 header.stamp.sec: 16236v, header.stamp.nsec: 0v$ temperature: nanv salinity: nanv, density: 1025.000000v values[0]: nanvF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16237, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16238, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16239, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 16240U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 16241-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16242, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16243, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16244, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16245, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)e tReceived state from Gazebo (printed only once in a while):e 2 header.stamp.sec: 16246e , header.stamp.nsec: 0e $ temperature: nane  salinity: nane , density: 1025.000000e values[0]: nane F (some fields omitted in printout)= tReceived state from Gazebo (printed only once in a while):= 2 header.stamp.sec: 16247= , header.stamp.nsec: 0= $ temperature: nan=  salinity: nan= , density: 1025.000000= values[0]: nan= F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16248 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16249 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)т?K~,l,AAp= @AY,E[@An~? AA(%"AANA"AZAbAjArAzAAAͩpQ@AwuA0ξAAẃA%AΕ?AAE*Av<2A!FE::A΅BAv<JA!FE:RA΅@I٘i)I9Y J5JJJJ&K  t5Y t5y @ŧ77t5)\\\\\\ ) )m*FFF]:VtReceived state from Gazebo (printed only once in a while):V2 header.stamp.sec: 16250V, header.stamp.nsec: 0V$ temperature: nanV salinity: nanV, density: 1025.000000V values[0]: nanVF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16251, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 16252e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 16253], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 16254U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 16255-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16256, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16257, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16258, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16259, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)m tReceived state from Gazebo (printed only once in a while):m 2 header.stamp.sec: 16260m , header.stamp.nsec: 0m $ temperature: nanm  salinity: nanm , density: 1025.000000m values[0]: nanm F (some fields omitted in printout)M tReceived state from Gazebo (printed only once in a while):M 2 header.stamp.sec: 16261M , header.stamp.nsec: 0M $ temperature: nanM  salinity: nanM , density: 1025.000000M values[0]: nanM F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16262 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16263 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)E[?K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000482 time: 1743041534.088985F (some fields omitted in printout)AQ@A[?g)\@Ao~? AA%"AA͍NA"AZAbAjArAzAAAǀęQ@AquA&ξAȲ:AANA@L?A` Ay*A:<2A*B::A.?BA:<JA*B:RA.??I٘i)I9Y JI٘i)I9Y JoL=JJJJ&K  {5Y {5y @ŧ7ŧ7 {5)\\\\\\ ) )FFF]:.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 16278., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout)5tReceived state from Gazebo (printed only once in a while):52 header.stamp.sec: 162795, header.stamp.nsec: 05$ temperature: nan5 salinity: nan5, density: 1025.0000005 values[0]: nan5F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16280, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16281, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16282, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16283, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)utReceived state from Gazebo (printed only once in a while):u2 header.stamp.sec: 16284u, header.stamp.nsec: 0u$ temperature: nanu salinity: nanu, density: 1025.000000u values[0]: nanuF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 16285e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 16286E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 16287%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16288 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16289 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16290 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16291 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)?K~,,AAGz@Aڏ\@A_!o~? AOA^~%"AANA"AZAbAjArAzAAA9zzQ@AdvA6ξA5p.<AA־Ao?A;AC4*A}<2A\=::AIBA}<JA\=:RAI=I٘i)I9Y JJJJJ&K  5Y 5y @)75)\\\\\\ ) )n*FFF]w:&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 16292&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 16293-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16294, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16295, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16296, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16297, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16298, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16299, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16300, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16301, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)e tReceived state from Gazebo (printed only once in a while):e 2 header.stamp.sec: 16302e , header.stamp.nsec: 0e $ temperature: nane  salinity: nane , density: 1025.000000e values[0]: nane F (some fields omitted in printout)E tReceived state from Gazebo (printed only once in a while):E 2 header.stamp.sec: 16303E , header.stamp.nsec: 0E $ temperature: nanE  salinity: nanE , density: 1025.000000E values[0]: nanE F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16304 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16305 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout),i?K~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000912 time: 1743041535.289202F (some fields omitted in printout)A(@AX\@A0o~? AAH%"AA7NA"AZAbAjArAzAAA*,R@A vAξA`8;AA&A5x?A@~AK*ATX{<2A<::AӁBATX{<JA<:RAӁXFailed to acquire valid data within timeout.qData Faulta a a a a S7==5)\\\\\\ ) )o*F-!@Data Fault in component: AHRS_M2FM!@Data Fault in component: AHRS_M2FF]i:RtReceived state from Gazebo (printed only once in a while):R2 header.stamp.sec: 16306R, header.stamp.nsec: 0R$ temperature: nanR salinity: nanR, density: 1025.000000R values[0]: nanRF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16307, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 16308m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)UtReceived state from Gazebo (printed only once in a while):U2 header.stamp.sec: 16309U, header.stamp.nsec: 0U$ temperature: nanU salinity: nanU, density: 1025.000000U values[0]: nanUF (some fields omitted in printout)-tReceived state from Gazebo (printed only once in a while):-2 header.stamp.sec: 16310-, header.stamp.nsec: 0-$ temperature: nan- salinity: nan-, density: 1025.000000- values[0]: nan-F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16311 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16312, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16313, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16314, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16315, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)m tReceived state from Gazebo (printed only once in a while):m 2 header.stamp.sec: 16316m , header.stamp.nsec: 0m $ temperature: nanm  salinity: nanm , density: 1025.000000m values[0]: nanm F (some fields omitted in printout)E tReceived state from Gazebo (printed only once in a while):E 2 header.stamp.sec: 16317E , header.stamp.nsec: 0E $ temperature: nanE  salinity: nanE , density: 1025.000000E values[0]: nanE F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16318 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16319 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)?K~,,AAp= @A%?\@A@o~? AA%"AA-NA"AZAbAjArAzAAAyFR@An~pvA#ξA#AoAA 3?A`R~A 5*Ay<2AL=<::A ~BAy<JAL=<:RA ~٘i)I9Y J JJJ 5Y 5y @L?ŧ75)\\\\\\ ) )n*!BCritical error at 20250327T021215FFFF]7:VtReceived state from Gazebo (printed only once in a while):V2 header.stamp.sec: 16320V, header.stamp.nsec: 0V$ temperature: nanV salinity: nanV, density: 1025.000000V values[0]: nanVF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16321, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 16322m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 16323E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 16324%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16325, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16326, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16327, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16328, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)}tReceived state from Gazebo (printed only once in a while):}2 header.stamp.sec: 16329}, header.stamp.nsec: 0}$ temperature: nan} salinity: nan}, density: 1025.000000} values[0]: nan}F (some fields omitted in printout)] tReceived state from Gazebo (printed only once in a while):] 2 header.stamp.sec: 16330] , header.stamp.nsec: 0] $ temperature: nan]  salinity: nan] , density: 1025.000000] values[0]: nan] F (some fields omitted in printout)M tReceived state from Gazebo (printed only once in a while):M 2 header.stamp.sec: 16331M , header.stamp.nsec: 0M $ temperature: nanM  salinity: nanM , density: 1025.000000M values[0]: nanM F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16332% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16333 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)]\@K~,$-AA(\@Aܚt)]@APo~? A{Aۭ%"AAVENA"AZAbAjArAzAAA R@A3vA7ξAy43A+AA?A[~~A0э*Av<2A:::Aj|BAv<JA::RAj|;I٘i)I9Y JǵJJJ 5Y 5y @?7ߦ5)\\\\\\ ) )FFFF]=:VtReceived state from Gazebo (printed only once in a while):V2 header.stamp.sec: 16334V, header.stamp.nsec: 0V$ temperature: nanV salinity: nanV, density: 1025.000000V values[0]: nanVF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16335, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)etReceived state from Gazebo (printed only once in a while):e2 header.stamp.sec: 16336e, header.stamp.nsec: 0e$ temperature: nane salinity: nane, density: 1025.000000e values[0]: naneF (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 16337E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 16338%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16339, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16340, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16341, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16342, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16343, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)u tReceived state from Gazebo (printed only once in a while):u 2 header.stamp.sec: 16344u , header.stamp.nsec: 0u $ temperature: nanu  salinity: nanu , density: 1025.000000u values[0]: nanu F (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 16345U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16346% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16347 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)w@K~,O-AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4000612 time: 1743041536.489335F (some fields omitted in printout)AGz@A熦\]@A_o~? A5AX%"AA\NA"AZAbAjArAzAAAe~8'R@AG 3vA*ξAzAoA!Ay?ATE~AԮ*At<2A8::Ak{BAt<JA8:RAk{:I٘i)I9Y J5JJJ 5Y 5y @?ŧ7[5)\\\\\\ ) )FFFF]2:VtReceived state from Gazebo (printed only once in a while):V2 header.stamp.sec: 16348V, header.stamp.nsec: 0V$ temperature: nanV salinity: nanV, density: 1025.000000V values[0]: nanVF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16349, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 16350m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)EtReceived state from Gazebo (printed only once in a while):E2 header.stamp.sec: 16351E, header.stamp.nsec: 0E$ temperature: nanE salinity: nanE, density: 1025.000000E values[0]: nanEF (some fields omitted in printout)%tReceived state from Gazebo (printed only once in a while):%2 header.stamp.sec: 16352%, header.stamp.nsec: 0%$ temperature: nan% salinity: nan%, density: 1025.000000% values[0]: nan%F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16353, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)NUninitializing protected caller thread."Thread cancelled.tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16354, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)%>Shutting down DAT ThreadHandler%"Thread cancelled.%JJoin timeout helper Thread ID is 5213=NUninitializing protected caller thread.="Thread cancelled.ZShutting down BackseatComponent ThreadHandler"Thread cancelled.JJoin timeout helper Thread ID is 5214tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16355, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16356, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16357, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)m tReceived state from Gazebo (printed only once in a while):m 2 header.stamp.sec: 16358m , header.stamp.nsec: 0m $ temperature: nanm  salinity: nanm , density: 1025.000000m values[0]: nanm F (some fields omitted in printout)M tReceived state from Gazebo (printed only once in a while):M 2 header.stamp.sec: 16359M , header.stamp.nsec: 0M $ temperature: nanM  salinity: nanM , density: 1025.000000M values[0]: nanM F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16360% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16361 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) @K~,8-AA(\@A&]@Ano~? AAo%"AAsNA"AZAbAjArAzAAA0">3R@AY4j vAAz;AA=A@%o?A@ ~A_(5*Awr<2A5::AVzBAwr<JA5:RAVz9I٘i)I9Y JJJ 5Y 5y @@75)\\\\\\ ) )FFFF]p:NUninitializing protected caller thread."Thread cancelled.VDShutting down logger ThreadHandlerV"Thread cancelled.VJJoin timeout helper Thread ID is 5215ZNUninitializing protected caller thread.Z"Thread cancelled.ZtReceived state from Gazebo (printed only once in a while):Z2 header.stamp.sec: 16362Z, header.stamp.nsec: 0Z$ temperature: nanZ salinity: nanZ, density: 1025.000000Z values[0]: nanZF (some fields omitted in printout)ENShutting down CommandLine ThreadHandlerE"Thread cancelled.EJJoin timeout helper Thread ID is 5216tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16363, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)-NUninitializing protected caller thread.-"Thread cancelled.mtReceived state from Gazebo (printed only once in a while):m2 header.stamp.sec: 16364m, header.stamp.nsec: 0m$ temperature: nanm salinity: nanm, density: 1025.000000m values[0]: nanmF (some fields omitted in printout)}NShutting down CommandExec ThreadHandler}"Thread cancelled.}JJoin timeout helper Thread ID is 5217RShutting down controlThread ThreadHandler"Thread cancelled.JJoin timeout helper Thread ID is 5218]tReceived state from Gazebo (printed only once in a while):]2 header.stamp.sec: 16365], header.stamp.nsec: 0]$ temperature: nan] salinity: nan], density: 1025.000000] values[0]: nan]F (some fields omitted in printout)=tReceived state from Gazebo (printed only once in a while):=2 header.stamp.sec: 16366=, header.stamp.nsec: 0=$ temperature: nan= salinity: nan=, density: 1025.000000= values[0]: nan=F (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16367 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000  values[0]: nan F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16368, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16369, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16370, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 16371, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 16372 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)} tReceived state from Gazebo (printed only once in a while):} 2 header.stamp.sec: 16373} , header.stamp.nsec: 0} $ temperature: nan}  salinity: nan} , density: 1025.000000} values[0]: nan} F (some fields omitted in printout)U tReceived state from Gazebo (printed only once in a while):U 2 header.stamp.sec: 16374U , header.stamp.nsec: 0U $ temperature: nanU  salinity: nanU , density: 1025.000000U values[0]: nanU F (some fields omitted in printout)% tReceived state from Gazebo (printed only once in a while):% 2 header.stamp.sec: 16375% , header.stamp.nsec: 0% $ temperature: nan%  salinity: nan% , density: 1025.000000% values[0]: nan% F (some fields omitted in printout)= NUninitializing protected caller thread.= 8Uninitializing ControlThread= RUninitialize ExternalSimGazebo Component.= Powering down $= FUninitializing DepthRateCalculator. &= PUninitializing ElevatorOffsetCalculator.= BUninitialize NavChart Navigation.&= Aggregate::uninitialize Default1= c= DUninitialize GoToSurfaceComponent.12=  d= NAggregate::uninitialize Default:CheckIn2= 1= 1= 1q!= a1!=  = LUninitialize VerticalControlComponent.= PUninitialize HorizontalControlComponent. = FUninitialize SpeedControlComponent.= DUninitialize LoopControlComponent.= 8Uninitialize Buoyancy Servo. = 8Uninitialize Elevator Servo.= 0Uninitialize Mass Servo. = 4Uninitialize Rudder Servo.= 8Uninitialize Thruster Servo. = 8Uninitialize SBIT Component. = 8Uninitialize IBIT Component. != 8Uninitialize CBIT Component.!= BUninitialize GFScanner component.= "Thread cancelled.M "Thread cancelled.! M ! M ! M ! M ! M ! M ! }M ! yM ! uM ! qM ! mM ! iM ! eM ! aM ! ]M ! MU ! IU ! EU ! AU ! =U ! 9U ! 5U ! 1U ! -U ! )U ! %U ! !U ! U ! U ! U ! U ! U ! U ! U ! U ! U ! U ! U ! U ! U ! U ! U U "Thread cancelled. U  U  U  U  U  U  U a IU a U a U a U a U a U a U U "Thread cancelled. U  U  U  U  U  U  U  U  U  U  U  }U  U yU  U uU  U qU  U mU  U iU  eU  aU  ]U  YU  UU  QU  MU  IU  EU  AU  =U  9U  5U  1U  -U  )U  %U  !U  U  U  U  U a U a U ! U ! U ! U ! U ! U ! U ! U ! U ! U ! U U "Thread cancelled. U  U  U  U  U  U  U  U  U  U  U  U  U  U  U  U  U  U  U  U  U  U  U  U  U  U  }U  yU  uU  qU  mU  iU  ]U  YU  UU  QU  MU  IU a EU a AU a =U a 9U a 5U a 1U a -U a )U a %U a !U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a }U a yU a uU a qU a mU a iU a eU a aU a ]U a YU a UU a QU a MU a IU a EU a AU a =U a 9U a 5U a 1U a -U a )U a %U a !U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a }U a yU a uU a qU a mU a iU a eU a aU a ]U a YU a UU a QU a MU a IU a EU a AU a =U a 9U a 5U a 1U a -U a )U a %U a !U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a }U a yU a uU a qU a mU a iU a eU a aU a ]U a YU a UU a QU a MU a IU a EU a AU a =U a 9U a 5U a 1U a -U a )U a %U a !U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a }U a yU a uU a qU a mU a iU a eU a aU a ]U a YU a UU a QU a MU a IU a EU a AU a =U a 9U a 5U a 1U a -U a )U a %U a !U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a U a }U a yU a uU a qU a mU a U a iU a U a eU a U a aU a ]U a YU a UU ! QU U "Thread cancelled.EU MU AU =U 9U 5U 1U -U a)U a%U a!U aU aU aU aU a U a U aU aU aU aU aU aU aU aU aU aU ! ]  ]  ]  ] ]  ]  ] ]  ]  ]  ]  ]  ]  ] ]  ] ]  ] ]  ] ]  ] ]  ] ]  ] ]  ] ]  ] ]  ] ]  ] ] a] a] a] a] a] a}] ay] au] !m] !] !i] !e] !a] !]] !Y] !U]  M]  ] I]  E]  A]  =]  9]  5]  -]  ] )]  %]  !]  ]  ]  ] a ] a ] a ] a ] a ] a ] a ] a ] a9] !] !5] q] 1] -] )] %] !] ] ] ] ]  ] ] ] Q] 1] ] ] ] ] ] ] ] ] ] ] ] e e e e e e e e e e e e e e e e e }e ye ue qe me ie ee ae ]e Ye Ue Qe Me Ie Ee Ae =e !e BUninitialize GFScanner component.e %e !e e e e e  e  e e e e e e e e e e e e e e ae ae !e !e !e !e !e !e !e #e "Thread cancelled.e e e e e e e e e e e e e e e e e e e e e e e }e "e "Thread cancelled.!ye !ue !qe !me !ie !ee !ae !]e !Ye !Ue !Qe !Me !Ie !Ee !Ae !=e !9e !5e !1e !-e !)e !e !e !e ! e ! e !e !e e e e e e e e e e e ae ae ae !e !e !e (e "Thread cancelled.9e 5e 1e -e )e %e a!e ae ae !e !e !e !e !e !e !e !e !e !e !e !e !e !e !e !e !e !e !e !e !e !e !e !e !}e !ye !ue !qe !me !ie !ee !ae !]e !Ye !Ue !Qe !Me !Ie !Ee !Ae !=e !9e !5e !1e !-e !)e !%e !!e !e !e !e !e ! e ! e !e !e !e !e !e !e !e !e a m a m a m a m a m a m a m a m a m a m a m a m a m a m a m a m m m m "Thread cancelled.